Mitsubishi Electric MELSEC Q Series Programming Manual page 339

6 POSITIONING CONTROL
[Program1]
[Program2]
(7) Speed-switching point-specified flag is effective toward the helical interpolation-
specified each pass point for constant-speed control.
(1) Servo program
Servo program for which helical interpolation specified pass point for constant-
speed control is shown below.
<K 510>
CPSTART3
Axis 1
Axis 2
Axis 3
Speed 10000
ABS-3
Axis 1,
Axis 2,
Axis 3,
ABH
Axis 1,
Axis 2,
Linear axis 3, -4000
Number of pitches
Radius
ABS-3
Axis 1,
Axis 2,
Axis 3,
CPEND
Program for direction of the nozzle of controlling the normal for circular arc curve is
shown as the following conditions.
(1) System configuration
Helical interpolation with constant-speed control of Axis 1, Axis 2 and Axis 3
Q61P Q03UD Q172D QX41 QY41P
CPU CPU
AMP
Axis
1
M
Constant-speed control
Axis used . . . Axis 1, Axis 2, Axis 3
Positioning speed . . . 10000
3 axes linear interpolation control (P1)
3000
4000 Positioning address
4000
3 axes helical interpolation control (P2)
5000
3500
Positioning address
6
1000
3 axes linear interpolation control (P3)
5000
3500
Positioning address
3000
End constant-speed control
Control with the following speed.
For linear/circular interpolation: Vector speed for number of
For helical interpolation: 2 axes vector speed for circular interpolation.
Motion CPU control module
Q172D
LX
Start command (PX000)
AMP AMP AMP
Axis Axis Axis
2 3 4
M M M
6 - 152
Axis 1 . . . 3000
Axis 2 . . . 4000
Axis 3 . . . 4000
Axis 1 . . . . . . . . . . . 5000
Axis 2 . . . . . . . . . . . 3500
Axis 3 . . . . . . . . . . -4000
Number of pitches . . . . . 6
Radius . . . . . . . . . . . 1000
Axis 1 . . . 5000
Axis 2 . . . 3500
Axis 3 . . . 3000
interpolation axes.