Mitsubishi Electric MELSEC iQ-R16MTCPU Programming Manual page 299

ABH , ABH , ABH
Processing details
The linear interpolation to other linear axis is executed performing 2 axes circular interpolation from current stop position (X
Y , Z ) to specified circular end address (X
0 0
executed so that it may become a spiral course.
It goes around on the specified circle for the specified number of pitches, the circular interpolation which had remainder
specified is executed, and positioning to end address is executed. The radius-specified circle specifies circular interpolation
method connected start point and end point at the seeing on the plane for which performs circular interpolation.
Operation details for absolute radius-specified helical interpolation are shown below.
End point address (X
Linear interpolation
travel value = Z - Z
1 0
Circular interpolation
plane
Start point (X
Control details for the servo instructions are shown below.
Instruction Rotation direction of
servomotor
ABH Clockwise (CW)
Radius-specified
helical interpolation
less than CW 180
ABH Counter clockwise (CCW)
Radius-specified
helical interpolation
less than CCW 180
ABH Clockwise (CW)
Radius-specified
helical interpolation
CW 180 or more
ABH Counter clockwise (CCW)
Radius-specified
helical interpolation
CCW 180 or more
, ABH Absolute radius-specified helical interpolation control
, Y ) or linear axis end point address (Z
1 1
, Y , Z )
1 1 1
Helical interpolation
path
Number of pitches a
, Y , Z )
0 0 0
Controllable angle of arc
0 <  < 180
180    360
), and the absolute helical interpolation is
1
Circular interpolation plane
End point address (X
Central
Radius R
angle
Start point (X , Y
0
*:
Positioning path
Start
point
Radius R
Radius R
Start
point
Start point
Start point
5.9 Helical Interpolation Control
, Y )
1 1
Positioning speed V
1
)
0
Indicates setting data.
Positioning path
End point
θ < 180 °
Central point
Central point
θ < 180 °
End point
Positioning path
Positioning path
180 ° ≤ θ ≤ 360 °
Central point
Radius R
End point
End point
Radius R
Central point
180° ≤ θ ≤ 360°
Positioning path
5 POSITIONING CONTROL
,
0
5
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