Yaskawa MotionSuite Series Machine Controller Programming Manual - Manual (Page 60)

MotionSuite™ Series Machine Controller Programming Manual Chapter 2: Motion Commands
2-19
2.1.4 Helical Interpolation (MCW, MCC)
! ! ! ! Outline
Helical interpolation (MCW, MCC) is a command that extends circular interpolation. It
executes the linear interpolation movement of each axis simultaneously with circular
interpolation along the circular arc determined by the set central position or radius (R)
value.
During movement, the tangential velocity of the circular interpolation is the interpolation
feed speed (F command). This movement is called helical interpolation. Designation
regulation for circular interpolation is based on the regulation of the circular interpolation
(the description regarding it is omitted here).
! ! ! ! Detailed Explanation
The designating method of the helical interpolation is shown as follows:
!
CAUTION
In the helical interpolation (MCW, MCC) command, the axis that
executes the linear interpolation can be either the linear axis or the
rotating axis. However, the axis chosen in linear interpolation
does not shape the move path helically. When programming, the
Forgetting this check carries a risk of tool damage, as well as
bodily injury due to interference.
move path must be checked to avoid tools interfering with the
workpiece.
MCW [axis1]—[axis2]—
A
U—V—
B
[axis3]—
C
F—;
D
A: End position
B: Central position
C: End position of the linear interpolation
D: Interpolation feed speed
Or,
MCC [axis1]—[axis2]—
A
R—
B
F—;
D
A: End
B: Central position
C: End position of the linear interpolation
[axis3]—
C
D: Interpolation feed speed