Mitsubishi Electric MELSEC iQ-R16MTCPU, Programming Manual

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5 POSITIONING CONTROL
5.9 Helical Interpolation Control
301
5
ABH , ABH Absolute central point-specified helical interpolation control
Processing details
The linear interpolation to other linear axis is executed performing 2 axes circular interpolation from current stop position (X
0
,
Y
0
, Z
0
) to specified circular end address (X
1
, Y
1
) or linear axis end point address (Z
1
), 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 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 absolute central point-specified helical interpolation are shown below.
Control details for the servo instructions are shown below.
• The setting range of end point address for the both of circular interpolation axis and linear interpolation axis is (-2
31
) to (2
31
-
1).
• The setting range of central point address is (-2
31
) to (2
31
-1).
• The maximum arc radius on the circular interpolation plane is 2
31
-1. For example, the maximum arc radius for electronic
gear 1:1 of unit [mm] is 214748364.7 [

m].
Instruction Rotation direction of
servomotor Controllable angle of arc Positioning path
ABH
Central point- specified
helical interpolation CW Clockwise (CW) 0

<
 
360

ABH
Central point- specified
helical interpolation CCW Counter clockwise (CCW)
Number of pitches a
End point address (X
1
, Y
1
, Z
1
)
Start point (X
0
, Y
0
, Z
0
)
Circular interpolation
plane
Linear interpolation
travel value = Z
1
-Z
0
Helical interpolation
path
Positioning speed V
1
Start point (X
0
, Y
0
)
Radius R
Arc central point
address (X
2
, Y
2
)
Circular interpolation plane
End point address (X
1
, Y
1
)
*: Indicates setting data.
Positioning path
Start
point
0

<

360

End point
Central point
Central point
Start
point End point
Positioning path
0

<

360

2
31
-1
Maximum arc
Arc central point
2
31
-1 -2
31
0
Radius R