6 POSITIONING CONTROL

ABH Absolute auxiliary point-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 auxiliary 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 absolute auxiliary point-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 range

Circular interpolation plane

End point address (X1, Y1)

 

 

 

Positioning speed V1

Radius R

 

 

Arc auxiliary point

 

 

 

 

 

Start point

address (X2, Y2)

 

 

(Note)

: Indicates setting range

Control details for the servo instructions are shown below.

Instruction

Rotation direction

Controllable angle of arc

of servomotor

 

 

 

ABH

Clockwise (CW)/

 

 

Auxiliary point-

 

 

Counter

0° <

360°

specified helical

clockwise (CCW)

 

 

interpolation

 

 

 

 

 

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

(2)The setting range of auxiliary point address is (-231) to (231-1).

(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].

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