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6 POSITIONING CONTROL
Helical interpolation specified methods for constant-speed control are shown below.
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
[Program]
(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)
CPSTART4
<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, Axis 4
CPEND
3000
Linear axis
Number of pitches
ABS-3
Axis 1,
Axis 2,
Axis 3,
4000
4000
3000
5000
3500
-4000
-6000
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 . -6000
End constant-speed control
Positioning address
Radius 1000
Radius . . . . . . . . . . . 1000
Control with the following speed.
For linear/circular interpolation: Combined-speed for number of interpolation axes.
For helical interpolation: 2 axes combined-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