6 POSITIONING CONTROL

INH , INH Incremental central point-specified helical interpolation control

[Control details]

The linear interpolation to other linear axis is executed performing circular interpolation from current stop position (start point) to specified circular relative end address (X1, Y1) or linear axis end point relative address (Z1), and the incremental helical interpolation control 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 central point-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 incremental central point -specified helical interpolation are shown below.

End point relative address (X1, Y1, Z1)

Linear interpolation

 

 

Helical interpolation

travel value = Z1

 

 

 

 

 

path

 

 

 

Number of pitches a

Circular interpolation

 

 

 

 

 

 

plane

 

 

 

Start point

 

 

 

 

 

(Note)

: Indicates setting range

Circular interpolation plane

End point relative address (X1, Y1)

 

 

 

 

Positioning speed V1

Radius R

 

 

 

Arc central point

 

 

 

 

 

 

 

Start point

relative address (X2, Y2)

 

 

 

(Note)

: Indicates setting range

Control details for the servo instructions are shown below.

Instruction

Rotation direction

Controllable angle of

 

Positioning pass

of servomotor

 

arc

 

 

 

 

 

 

 

INH

 

 

 

 

0 <

=360

Positioning path

Central point-specified

 

 

 

 

 

 

Clockwise (CW)

 

 

Start point

 

<

End point

helical interpolation

 

 

 

 

 

 

 

 

Central point

 

CW

 

 

 

 

 

 

0° <

360°

 

 

 

 

INH

 

 

Central point

 

 

 

 

 

 

Central point-specified

Counter

 

 

Start point

0 <

<

End point

 

 

 

 

helical interpolation

clockwise (CCW)

 

 

=360

 

 

 

 

 

Positioning path

CCW

 

 

 

 

 

 

 

 

 

 

 

 

 

(1)The setting range of end point relative address for the both of circular interpolation axis and linear interpolation axis is 0 to (231-1).

(2)The setting range of central point relative is 0 to (231-1).

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