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6 POSITIONING CONTROL
6.9.1 Circular interpolation specified method by helical interpolation
The following method of circular interpolation is possible for the helical interpolation.
The specified method of circular interpolation connected start point and end point at
the seeing on the plane for which performs circular interpolation are as follows.
Servo instruction Positioning method Circular interpolation specified method
ABH Absolute
INH Incremental
Radius-specified method
less than CW180°
ABH Absolute
INH Incremental
Radius-specified method
less than CCW180°
ABH Absolute
INH Incremental
Radius-specified method
CW180° or more.
ABH Absolute
INH Incremental
Radius-specified method
CCW180° or more.
ABH Absolute
INH Incremental
Central point-specified method CW
ABH Absolute
INH Incremental
Central point- specified method CCW
ABH Absolute
INH Incremental
Auxiliary point-specified method
[Cautions]
(1) The helical interpolation instruction can be used at the both of real/virtual mode.
(2) When the number of pitches is 0 and travel value of linear axis is not "0" is set,
operation example is shown below.
Arc center
Linear axis operates
so that it may become
a position according
to this angle.
Circular interpolation path
End point (X
1
, Y
1
,
Z
1
)
Start point (X
0
, Y
0
, Z
0
)
Linear axis operation
Condition Operation
Number of pitches is 0 Control on the circular plane.
Number of pitches is not 0 Rotation spirally of the number of pitches to linear axis direction.