Mitsubishi Electric MELSEC iQ-R16MTCPU Programming Manual page 307

ABH Absolute auxiliary 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 auxiliary 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 auxiliary 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)/
Auxiliary point-specified Counter clockwise (CCW)
helical interpolation
• 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 auxiliary 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
• Set the command speed with the vector speed for 2 axes circular interpolation axis.
• The command speed unit is specified in the parameter block.
• Set the number of pitches within the range of 0 to 999. If it is set outside the setting range, the minor error (error code:
1A36H) occurs and operation does not start.
• All of the circular interpolation axis, linear axis end relative address, command speed, radius (2 word data above) and
number of pitches (1 word data) are set indirectly by the word devices.
, Y ) or linear axis end point address (Z
1 1
, Y , Z )
1 1 1
Helical interpolation
path
Number of pitches a Radius R
, Y , Z )
0 0 0
Controllable angle of arc
0 <   360
31 31
) to (2 -1).
31
), and the absolute helical interpolation is
1
Circular interpolation plane
End point address (X
Positioning speed V
Arc auxiliary point
address (X
Start point (X , Y )
0 0
*: Indicates setting data.
-1. For example, the maximum arc radius for electronic
5 POSITIONING CONTROL
5.9 Helical Interpolation Control
,
0
, Y )
1 1
5
1
, Y )
2 2
31 31
) to (2 -
305