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6 POSITIONING CONTROL
INH
, INH Incremental central point-specified helical interpolation control
[Control details]
The linear interpolation to other linear axis is executed performing circular interpolation
from current stop position (start point) to specified circular relative end address (X1,
Y1) or linear axis end point relative address (Z1), and the incremental helical
interpolation control 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 central point-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 incremental central point -specified helical interpolation are shown
below.
Number of pitches a
End point relative address (X
1, Y1, Z1)
Start point
Helical interpolation
path
Circular interpolation
plane
Linear interpolation
travel value = Z
1
: Indicates setting range (Note)
Positioning speed V1
Start point
Radius R
Arc central point
relative address (X
2, Y2)
Circular interpolation plane
End point relative address (X
1, Y1)
: Indicates setting range (Note)
Control details for the servo instructions are shown below.
Instruction
Rotation direction
of servomotor
Controllable angle of
arc
Positioning pass
INH
Central point-specified
helical interpolation
CW
Clockwise (CW)
Positioning path
Start point End point
Central point
0 < 360
<
=
INH
Central point-specified
helical interpolation
CCW
Counter
clockwise (CCW)
0° <
360°
Central point
Start point End point
Positioning path
0 < 360
<
=
(1) The setting range of end point relative address for the both of circular interpolation
axis and linear interpolation axis is 0 to
(2
31
-1).
(2) The setting range of central point relative is 0 to
(2
31
-1).