P
2
Z P
3
I P
4
J P
5
K P
6
F V
Clockwise Arc / Clockwise Helical /
Counterclockwise Arc /
Counterclockwise Helical Movement
(distance to center of arc)
Controllers
20PM -
Bit Devices Double-Word Devices Notes
Type
K H D KK HH DD
P
1
* * * * * *
P
2
* * * * * *
P
3
* * * * * *
P
4
* * * * * *
P
5
* * * * * *
P
6
* * * * * *
V * * * * * *
 CW/CCW instruction supports V, Z index register
modification on the devices.
 You can place an M-Code instruction after
CW/CCW.
Operands:
P
1
: Target position on X axis P
2
: Target position on Y axis P
3
: Target position on Z axis
P
4
: Distance to the center of arc/helix on X axis P
5
: Distance to the center of arc/helix on Y axis
P
6
: Distance to the center of arc/helix on Z axis V: Arc/helical interpolation speed
Explanations:
1. P
4
, P
5
, P
6
: The vector-valued coordinate of center of arc or center of helix, i.e. distance to the center of arc/helix
on X-Y-Z axes.
2. V
MAX
= 500kHz
3. Range of parameters P
1
, P
2
, P
3
, P
4
, P
5
, P
6
: (16-bit) K = -32,768 ~ 32,767; H = 0 ~ FFFF; D = 0 ~ 9,999; (32-bit)
KK = -2,147,483,648 ~ 2,147,483,647; HH = 0 ~ FFFFFFFF; DD = 0 ~ 9,998.
4. Acceleration/deceleration time and bias speed can be set up in special D.
5. Acceleration/deceleration time increases or decreases in proportional to the setting of V
MAX
.
6. Timing diagram:
Speed
T
ACC
DEC
V
MAX
Time
V
BIAS
Start
Operation speed
Target position
7. 2-axis arc interpolation: 20D model only supports arc interpolation on X-Y plane. 20M model supports arc /
helical interpolation on 3 planes by G-Code instructions: G17 (X-Y plane), G18 (X-Z plane) or G19 (Y-Z plane).
See the figure below for X-Y arc interpolation.
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