Omron CS1W-MCH71 MOTION CONTROL UNIT - 09-2004 Manual page 300

Command Details
Vertical axis
Start
position
0
• When [Number of turns] is specified, multiple rotations will occur. In addi-
tion, multiple rotations can be specified only for center position specifica-
tion. For radius specification, programs cannot be loaded (because the
center position cannot be determined If the start position = the end posi-
tion for radius specification.)
• The number of rotations excluding the circular arc from the start point to
the end point is specified for [Number of turns]. When the start position is
not equal to the end position, the travel distance per block will be circular
arc of [Number of turns] + a. When the start position is equal to the end
position, the travel distance per block will be circular arc of [Number of
turns] + 1.
• If [Linear axis name] and [Linear axis command value] are added, helical
circular interpolation can be realized. If [Number of turns] is specified to
realize multiple rotations for helical circular interpolation, the end position
has to be specified.
Axis 3
Horizontal
axis
Vertical
axis
Start position
• [Interpolation feed rate] is handled as shown in the table below depending
on the interpolation type and the setting of the parameter [P00004.bit00:
Helical circular interpolation speed].
Interpolation type
Circular interpolation 0 or 1
Helical circular inter- 0 (speed on the cir-
polation cumference)
Helical circular inter- 1 (speed on the tan-
polation gent)
Center
Radius
End position
End position
Linear interpolation
portion
Center
Circular interpolation
P00004.00
Combined speed of the horizontal
and vertical axes
Combined speed of the horizontal
and vertical axes
Combined speed of the horizon-
tal, vertical, and linear axes.
Section 6-3
Horizontal axis
Interpolation feed rate
277