Mitsubishi Electric MELSEC iQ-R16MTCPU Programming Manual page 303

ABH , ABH Absolute central point-specified helical interpolation control
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 central point-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 central point-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)
Central point- specified
helical interpolation CW
ABH Counter clockwise (CCW)
Central point- specified
helical interpolation CCW
• The setting range of end point address for the both of circular interpolation axis and linear interpolation axis is (-2
1).
• The setting range of central point address is (-2
• The maximum arc radius on the circular interpolation plane is 2
gear 1:1 of unit [mm] is 214748364.7 [m].
31
2 -1
Maximum arc
Arc central point
0
31 31
-2 2 -1
Radius R
, 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 <   360
31 31
) to (2 -1).
), and the absolute helical interpolation is
1
Circular interpolation plane
End point address (X
Radius R
Start point (X , Y )
0 0
*:
Positioning path
Start
point
Start
point
31
-1. For example, the maximum arc radius for electronic
5.9 Helical Interpolation Control
, Y )
1 1
Positioning speed V
1
Arc central point
address (X , Y )
2 2
Indicates setting data.
Positioning path
0  <  360 
End point
Central point
Central point
0  <  360 
End point
Positioning path
31
) to (2
5 POSITIONING CONTROL
,
0
5
31
-
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