Yaskawa MotionSuite Series Machine Controller Programming Manual - Manual (Page 61)

MotionSuite™ Series Machine Controller Programming Manual Chapter 2: Motion Commands
2-20
• In the axis character of linear interpolation, the axis that is not designated by plane
designation can be designated. It is not necessary to designate a right angle in the
interpolation plane.
• Before designating the helical interpolation, designate the plane by the coordinate plane
designation (PLN) command.
• Designate the end position and circular arc center in the order that corresponds to the
horizontal axis and vertical axis names which are designated by the PLN command.
• The interpolation feed speed is also called F command. It is designated by the speed
designation (F) or speed command (%) (IFP).
• The F command which is designated in the previous block is used. An alarm occurs if the
interpolation command is not designated by the F command.
• The feed speed F indicates the tangential velocity of the circular arc in the circular plane.
Therefore, the speed (F’) of the linear axis is:
F’ = F
× (Length of the linear axis) / (Length of the circular arc).
Supplement
The designating methods of the speed reference, accel/decel, override, etc. are the same as
those of linear interpolation. Refer to item 2.1.2, Linear Interpolation (MVS) for detailed
information.
+Z
+X
+Y
End position
Helical interpolation
Circular interpolation
Linear interpolation
Central position
Current position
Figure 2.13: Helical Interpolation Command