6 POSITIONING CONTROL

6.9 Helical Interpolation Control

The linear interpolation control with linear axis is executed simultaneously while the circular interpolation specified with any 2 axes is executed, the specified number of pitches rotates spirally and performs the locus control to command position.

 

 

 

 

 

 

 

Items are set in peripheral devices

 

 

 

 

 

 

 

 

Common

Arc

Parameter block

Others

 

 

 

 

 

 

 

blockParameterNo. Axis Address/travelvalue speedCommand timeDwell code-M

valuelimitTorque pointAuxiliary Radius pointCentral countPitch

input

interpolation

 

 

 

 

 

 

unitsControl valuelimitSpeed timeAcceleration timeDeceleration decelerationstopRapid time valuelimitTorque processingDecelerationon stop

errorAllowablerange for circular ratiocurve-S Cancel ON/OFF-WAIT

 

 

 

Processing

 

 

 

 

 

 

Speed

Servo

 

 

Number of

 

 

 

change

instruction

 

 

control axes

 

 

 

 

 

 

 

 

 

 

 

 

 

 

ABH

Absolute radius-specified helical

3

 

 

 

 

 

interpolation less than CW 180°

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

ABH

Absolute radius-specified helical

3

 

 

 

 

 

interpolation CW 180° or more

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

ABH

Absolute radius-specified helical

3

 

 

 

 

 

interpolation less than CCW 180°

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

ABH

Absolute radius-specified helical

3

 

 

 

 

 

interpolation CCW 180° or more

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

INH

Incremental radius-specified

 

 

 

 

 

 

 

helical interpolation less than

CW

3

 

 

 

 

 

 

 

 

180°

 

 

 

 

 

 

 

INH

Incremental radius-specified

 

 

 

 

 

 

 

helical interpolation CW 180°

or

3

 

 

 

 

 

 

 

 

more

 

 

 

 

 

 

 

INH

Incremental radius-specified

 

 

 

 

 

 

 

helical interpolation less than

 

3

 

 

 

 

 

 

 

 

CCW 180°

 

 

 

 

 

 

Valid

INH

Incremental radius-specified

 

 

 

 

 

 

 

 

 

 

 

 

 

helical interpolation CCW 180° or

3

 

 

 

 

 

 

 

 

more

 

 

 

 

 

 

 

ABH

Absolute central point-specified

3

 

 

 

 

 

helical interpolation CW

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

ABH

Absolute central point-specified

3

 

 

 

 

 

helical interpolation CCW

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

INH

Incremental central point-specified

3

 

 

 

 

 

helical interpolation CW

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

INH

Incremental central point-specified

3

 

 

 

 

 

helical interpolation CCW

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

ABH

 

 

Absolute auxiliary point- specified

3

 

 

 

 

 

 

 

helical interpolation

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

INH

 

 

Incremental auxiliary point-

 

3

 

 

 

 

 

 

 

specified helical interpolation

 

 

 

 

 

 

 

 

 

 

 

 

 

: Must be set

: Set if required

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