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6 POSITIONING CONTROL
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 (X0, Y0, Z0) to specified circular end address
(X1, 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)
Control details for the servo instructions are shown below.
Instruction
Rotation direction
of servomotor
Controllable angle of
arc
Positioning pass
ABH
Radius-specified
helical interpolation
less than CW 180°
Clockwise (CW)
Positioning path
End point
Radius R
Central point
<180
Start
point
ABH
Radius-specified
helical interpolation
less than CCW 180°
Counter
clockwise (CCW)
0° <
< 180°
Central point
Radius R
Start
point
End point
Positioning path
<180
ABH
Radius-specified
helical interpolation
CW 180° or more
Clockwise (CW)
Positioning path
180 360
Central point
End point
Start point
Radius R
<
=
<
=
ABH
Radius-specified
helical interpolation
CCW 180° or more
Counter
clockwise (CCW)
180°
360°
Radius R
Start point
End point
Positioning path
Central point
180 360
<
=
<
=