Mitsubishi Electric MELSEC iQ-R16MTCPU Programming Manual page 358

Processing details
Helical interpolation specified methods for continuous trajectory control are shown below.
Servo instruction
ABH
INH
ABH
INH
ABH
INH
ABH
INH
ABH
INH
ABH
INH
ABH
INH
Precautions
• Specify any 3 axes among 4 controlled axes in the helical interpolation control at the pass point for 4 axes continuous
trajectory control (CPSTART4). When axes other than the axes specified for helical interpolation control are detected, an
error occurs, resulting in a deceleration stop.
• Command speed at the helical interpolation specified point is controlled with the speed of circumference. Control is the
same as before at the point except for the helical interpolation specification. (Both of the linear interpolation-specified point
and circular interpolation-specified point are the vector speed for number of interpolation axes.)
• Skip function toward the helical interpolation-specified each point for continuous trajectory control is possible. If the
absolute-specified helical interpolation is specified to point since the skip signal specified point, set the absolute linear
interpolation between them. If it does not set, it may occur an error and stop.
• FIN signal wait function toward the helical interpolation specified each pass point for continuous trajectory control is
possible. M-code outputting signal is outputted to all circular interpolation axes and linear axes. Fin signal can be operated
with the both of circular interpolation axes and linear axes.
• If negative speed change toward the helical interpolation-specified each pass point for continuous trajectory control is
executed, it can be returned before 1 point during positioning control.
• Speed-switching point-specified flag is effective toward the helical interpolation-specified each pass point for continuous
trajectory control.
5 POSITIONING CONTROL
356
5.17 Continuous Trajectory Control
Positioning method
Absolute
Incremental
Absolute
Incremental
Absolute
Incremental
Absolute
Incremental
Absolute
Incremental
Absolute
Incremental
Absolute
Incremental
Circular interpolation specified method
Radius-specified method less than CW180
Radius-specified method less than CCW180
Radius-specified method CW180 or more.
Radius-specified method CCW180 or more.
Central point-specified method CW
Central point-specified method CCW
Auxiliary point-specified method