Mitsubishi Electric MELSEC-L LD75D, Руководство пользователя

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When "degree" is set for the unit setting in the absolute system, the positioning range is 0 to 359.99999

. When the axis
rotates 360

or more in circular interpolation control (x axis - y axis), the tangential/normal control cannot be carried out
because a degree of 360

or more cannot be set in linear control (z axis: degree). To carry out tangential/normal control in
which the axis rotates 360

or more, use 3-axis helical interpolation control (INC).
(3) Error compensation for circular interpolation control
In 3-axis helical interpolation control, "[Pr.41] Allowable circular interpolation error width" is made valid as well as
in circular interpolation control (2 axes.) When a circular interpolation error occurs, the path of the circular
interpolation control (x axis - y axis) forms a spiral as shown below.
(4) Rotation direction when the unit for the linear axis (z axis) is degree
When "[Pr.1] Unit setting" for the linear axis is "degree", the rotation direction is determined according to the axis
control data "[Cd.40] ABS direction in degrees" of the reference axis. To set the rotation direction for each
positioning data, set the position data "[Da.28] ABS direction in degrees".
(5) 3-axis helical interpolation control with center point designation (ABS helical
right, ABS helical left)
(a) Operation chart
In this control, positioning is carried out from the current stop position (X0, Y0, Z0) to the circular end address
(X1, Y1) and linear axis end address (Z1) set in "[Da.6] Positioning address/movement amount". Circular
interpolation with an arc path having its center as the address of the center point (arc address) set in "[Da.7]
Arc address" is carried out. Simultaneously, linear interpolation is carried out with the other linear axis. The
control path is helically rotated for the number of pitch set in "[Da.10] M code" of the linear axis to complete the
positioning to the specified position.
Operation chart Circular interpolation plane
Y axis
Circular
interpolation
error
End point
Start point
X axis
θ
Z axis
X axis
Y axis
Circular interpolation control
end point (X1, Y1)
Linear control end point (Z1)
Arc center point
Number of pitch
Linear movement
amount
Circular interpolation control
start point (X0, Y0)
Linear control start point (Z0)
Circular interpolation control
end point (X1, Y1)
Center point
Radius
Circular interpolation control
start point (X0, Y0)