Axis 1 . . . . 45000 Axis 2 . . . . 20000
Axis 2 . . . . 30000
Axis 1 . . . . 88541

6POSITIONING CONTROL

(3)The maximum arc radius on the circular interpolation plane is (231-1).

For example, the maximum arc radius for electronic gear 1:1 of unit [mm] is 214748364.7[µm].

231-1

Maximum arc Arc central point

0

-231 231-1

Radius R

(4)Set the command speed with the combined-speed for 2 axes circular interpolation axis.

(5)The command speed unit is specified in the parameter block.

(6)Set the number of pitches within the range of 0 to 999. If it is set outside the setting range, the servo program error [28] occurs and operation does not start.

(7)All of the circular interpolation axis, linear axis end relative address, command speed, radius (2 word data above) and number of pitches (1 word data) are set indirectly by D, W and #.

(8)If start point = end point, number of pitches = 1 and travel value of linear axis = 0, at the only central point-specified circular interpolation, full circle can be drawn.

[Program]

(1) Servo program

Servo program No.56 for incremental central point-specified helical interpolation control is shown below.

<K 56>

 

 

 

 

 

 

 

 

INH

1,

88541

Axis

Axis

2,

30000

Linear axis

3,

20000

Speed

 

 

1000

Number of pitches

500

Central point

1,

45000

Central point

2,

20000

Incremental central point specified-circular helical interpolation

Axis for the circular . . . . . . . . . Axis 1, Axis 2 interpolation

End point relative address of

the circular interpolation axis

Linear axis for the circular. . . . . . . . . . . . . . Axis 3 interpolation and linear interpolation

End point relative address from . . . . . . . . . 20000 the linear axis specification

Positioning speed . . . . 1000 Number of pitches . . . 500 Central point relative address . . of the arc

(Note): Example of the Motion SFC program for positioning control is shown next page.

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