Mitsubishi Electric MELSEC-Q Series - Page 247

6 - 60
6 POSITIONING CONTROL
(5) Specified the speed which executes speed change by CHGV instruction during
helical interpolation operation with the vector speed of circular interpolation axis 2.
If speed change is requested by specifying negative speed by CHGV instruction
during helical interpolation operation, deceleration starts from the time and it is
possible to return to reverse direction at the deceleration completion.
(6) If start point = end point, number of pitches = 1 and travel value of linear axis = 0,
at the only central point-specified circular interpolation, full circle can be drawn.
When the address of "start point = end point" is set at the radius-specified helical
interpolation or auxiliary point-specified helical interpolation, a minor error occurs
at the start and cannot be start.
• At auxiliary point-specified helical interpolation : Minor error (error code: 107)
• At radius-specified helical interpolation : Minor error (error code: 108)
(7) When the control unit is [degree] and the stroke limit is invalid, if the helical
interpolation control is executed using absolute data method, positioning in near
direction to specified address based on the current value.
(8) Allowable error range for circular interpolation can be set.
ABH
, ABH , ABH , ABH Absolute radius-specified helical interpolation
control
[Control details]
The linear interpolation to other linear axis is executed performing 2 axes circular
interpolation from current stop position (X
0, Y0, Z0) to specified circular end address
(X
1, Y1) or linear axis end point address (Z1), 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 radius-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 radius-specified helical interpolation are shown below.
Number of pitches a
End point address (X
,
Y
,
Z )
Start point (X
0,
Y
0,
Z
0
)
Helical interpolation
path
Circular interpolation
plane
Linear interpolation
travel value = Z
1-Z0
11 1
: Indicates setting data (Note)
Positioning speed V
1
Start point (X0, Y0)
Radius R
Central
angle
Circular interpolation plane
End point address (X
1
, Y
1
)
: Indicates setting data (Note)