Mitsubishi Electric MELSEC iQ-R16MTCPU, Руководство по программированию

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5 POSITIONING CONTROL
5.9 Helical Interpolation Control
307
5
INH Incremental auxiliary 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 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 incremental auxiliary 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 auxiliary 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].
• Set the command speed with the vector speed for 2 axes circular interpolation axis.
• The command speed unit is specified in the parameter block.
• Set the number of pitches within the range of 0 to 999. If it is set outside the setting range, the minor error (error code:
1A36H) occurs and operation does not start.
• All of the circular interpolation axis, linear axis end point address, command speed, radius (2 word data above), and
number of pitches (1 word data) are set indirectly by the word devices.
Instruction Rotation direction of servomotor Controllable angle of arc
INH
Auxiliary point-specified
helical interpolation Clockwise (CW)/
Counter clockwise (CCW) 0

<
 
360

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 auxiliary point
address (X
2
, Y
2
)
Circular interpolation plane
End point relative address (X
1
, Y
1
)
*: Indicates setting data.
Arc central point
Maximum arc
2 31 -1 -2
31
2
31
-1
0
Radius R