Mitsubishi Electric MELSEC-Q Series - Page 339

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6 POSITIONING CONTROL
(7) Speed-switching point-specified flag is effective toward the helical interpolation-
specified each pass point for constant-speed control.
[Program1]
(1) Servo program
Servo program for which helical interpolation specified pass point for constant-
speed control is shown below.
3 axes helical interpolation control (P2)
CPSTART3
<K 510>
Axis 2
Axis 1,
Axis 2,
Speed
Axis 1
ABS-3
Constant-speed control
Axis 3
Axis 3,
ABH
Axis 1,
Axis 2,
10000
Axis used . . . Axis 1, Axis 2, Axis 3
CPEND
3000
Linear axis
Number of pitches
ABS-3
Axis 1,
Axis 2,
Axis 3,
4000
4000
3000
5000
3500
-4000
6
5000
3500
Axis 1 . . . 3000
Positioning address
Axis 2 . . . 4000
Axis 3 . . . 4000
Positioning speed . . . 10000
Positioning address
Axis 1 . . . . . . . . . . . 5000
Axis 2 . . . . . . . . . . . 3500
Axis 3 . . . . . . . . . . -4000
Number of pitches . . . . . 6
End constant-speed control
Positioning address
Radius 1000
Radius . . . . . . . . . . . 1000
Control with the following speed.
For linear/circular interpolation: Vector speed for number of
interpolation axes.
For helical interpolation: 2 axes vector speed for circular interpolation.
3 axes linear interpolation control (P1)
3 axes linear interpolation control (P3)
3,
Axis 1 . . . 5000
Axis 2 . . . 3500
Axis 3 . . . 3000
[Program2]
Program for direction of the nozzle of controlling the normal for circular arc curve is
shown as the following conditions.
(1) System configuration
Helical interpolation with constant-speed control of Axis 1, Axis 2 and Axis 3
Start command (PX000)
Q172D
CPU
Q172D
LX
QX41 QY41PQ61P Q03UD
CPU
Motion CPU control module
AMP
M
Axis
1
AMP
M
Axis
2
AMP
M
Axis
4
AMP
M
Axis
3