Mitsubishi Electric MELSEC iQ-R16MTCPU, Руководство по программированию

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5 POSITIONING CONTROL
5.9 Helical Interpolation Control
303
5
INH , INH Incremental central point-specified helical interpolation control
Processing 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 (X
1
, Y
1
) or linear axis end point relative address (Z
1
), 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.
Control details for the servo instructions are shown below.
• The setting range of end point relative address for the both of circular interpolation axis and linear interpolation axis is 0 to

(2
31
-1).
• The setting range of central point relative is 0 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
INH
Central point-specified
helical interpolation CW Clockwise (CW) 0

<
 
360

INH
Central point-specified
helical interpolation CCW Counter clockwise (CCW)
Number of pitches a
End point relative address (X
1
, Y
1
, Z
1
)
Start point
Circular interpolation
plane
Linear interpolation
travel value = Z
1
Helical interpolation
path
Positioning speed V
1
Start point
Radius R
Arc central point
relative address (X
2
, Y
2
)
Circular interpolation plane
End point relative 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

Arc central point
Maximum arc
2
31
-1 -2
31
2
31
-1
0
Radius R