Mitsubishi Electric MELSEC Q Series Programming Manual page 338

6 POSITIONING CONTROL
[Cautions]
Helical interpolation specified methods for constant-speed control are shown below.
Servo instruction
ABH
INH
ABH
INH
ABH
INH
ABH
INH
ABH
INH
ABH
INH
ABH
INH
(1) The helical interpolation specification at pass point for constant-speed control can
be used in the both of real mode/virtual mode. When axes other than the axes
specified for helical interpolation control are detected, an error occurs, resulting in
a deceleration stop.
(2) Specify any 3 axes among 4 controlled axes in the helical interpolation control at
the pass point for 4 axes constant-speed control (CPSTART4).
(3) 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.)
(4) Skip function toward the helical interpolation-specified each point for constant-
speed 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.
(5) FIN signal wait function toward the helical interpolation specified each pass point
for constant-speed 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.
(6) If negative speed change toward the helical interpolation-specified each pass
point for constant-speed control is executed, it can be returned before 1 point
during positioning control.
Positioning method
Absolute
Incremental
Absolute
Incremental
Absolute
Incremental
Absolute
Incremental
Absolute
Incremental
Absolute
Incremental
Absolute
Incremental
6 - 151
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