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6 POSITIONING CONTROL
6.17.5 Constant speed control for helical interpolation
The helical interpolation can be specified as the positioning control method to pass
point for 3 or 4 axes constant-speed control.
Starting or ending instruction for constant-speed control uses the same CPSTART3,
CPSTART4 or CPEND as 3 or 4 axes constant-speed control instruction.
: Must be set
: Set if required
Items are set in peripheral devices
Common Arc Parameter block Others
Servo
instruction
Positioning
method
Number of
control axes
Parameter block No.
Axis
Address/travel value
Command s
p
eed
M-code
Torque limit value
Auxiliar
y
p
oint
Radius
Central
p
oint
Pitch
Control unit
S
p
eed limit value
Acceleration time
Deceleration time
Ra
p
id sto
p
deceleration time
Tor
q
ue limit value
Deceleration
p
rocessin
g
on sto
p
in
p
ut
A
llowable error ran
g
e for circular inter
p
olation
S-curve ratio
Commanded speed
(
Constant
)
Cancel
Skip
FIN acceleration/deceleration
WAIT-ON/OFF
Speed
change
ABH
ABH
ABH
ABH
ABH
ABH
ABH
Constant-speed
pass point
absolute
specification
2
INH
INH
INH
INH
INH
INH
INH
Constant speed
pass point
incremental
specification
2
Valid