6 POSITIONING CONTROL

ABH , ABH , ABH , ABH Absolute radius-specified helical interpolation control

[Control details]

The linear interpolation to other linear axis is executed performing 2 axes circular interpolation from current stop position (X0, Y0, Z0) to specified circular end address (X1, Y1) or linear axis end point address (Z1), and the absolute helical interpolation is 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 radius-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 radius-specified helical interpolation are shown below.

End point address (X1, Y1, Z1)

Linear interpolation

Helical interpolation

travel value = Z1-Z0

 

 

 

path

 

 

 

Number of pitches a

 

 

Circular interpolation

 

 

 

plane

 

 

Y0, Z0)

 

Start point (X0,

 

 

(Note)

: Indicates setting data

Circular interpolation plane

End point address (X1, Y1)

Positioning speed V1

Radius R

 

Central

 

angle

 

 

Start point (X0, Y0)

(Note) : Indicates setting data

Control details for the servo instructions are shown below.

Instruction

Rotation direction

Controllable angle of

Positioning pass

of servomotor

 

arc

 

 

 

 

 

 

ABH

 

 

 

Start

 

 

Positioning path

Radius-specified

 

 

 

<180

End point

Clockwise (CW)

 

 

point

helical interpolation

 

 

Radius R

 

 

 

 

 

 

 

Central point

less than CW 180°

 

 

 

 

 

 

0° <

< 180°

 

 

 

 

ABH

 

Radius R

 

Central point

 

 

 

 

Radius-specified

Counter

 

 

 

 

 

 

 

Start

<180

End point

helical interpolation

clockwise (CCW)

 

 

 

 

 

 

less than CCW 180°

 

 

 

point

 

 

Positioning path

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

Positioning path

ABH

 

 

 

180

<

<

 

 

 

 

 

 

Radius-specified

 

 

 

=

=360

Central point

Clockwise (CW)

 

 

 

 

 

helical interpolation

 

 

 

 

 

 

 

 

 

 

 

 

 

CW 180° or more

 

 

 

Radius R

End point

 

 

180°

360°

Start point

 

 

 

 

 

 

 

Start point

 

End point

 

 

 

 

 

ABH

 

 

 

Radius R

Radius-specified

Counter

 

 

 

 

 

Central point

helical interpolation

clockwise (CCW)

 

 

 

<

<

CCW 180° or more

 

 

 

180 =

=360

 

 

 

 

 

 

 

Positioning path

 

 

 

 

 

 

 

6 - 58