Intelligent Motion Control and Machine Vision Helical/Spiral Interpolation Helical / spiral movement by interpolation defined by (1) center position (2) terminal point on the circular route or points along the circular route (3) terminal point on the circular route and Z axis movement. To perform interpolation up to 2+1 axes for helical / spiral movement. Multi-Axis (Group) Motion • Group settings: up to 3 group settings • Linear interpolation: up to 8 axes • Speed override is available 3-Axis Linear Interpolation 2-Axis Linear Interpolation 3-axis spiral interpolation (Center point specification/ CW direction/Z-axis movement) The center position can be specified Z axis X axis Y axis The interpolation speed is the tangential velocity of arc 3-axis linear interpolation (Composite speed specification) The composite speed can be specified Z axis X axis Y axis 2-axis linear interpolation (Composite speed specification) The composite speed can be specified Y axis X axis Z axis X axis Y axis The interpolation speed is the tangential velocity of arc The center position can be specified 3-axis spiral interpolation (Center point specification/ CCW direction/Z-axis movement) 3-axis linear interpolation (Composite speed specification) The axis speed for the axis to be a long axis can be specified Z axis X axis Y axis 2-axis linear interpolation (Long axis speed specification) The axis speed for the axis to be a long axis can be specified. Y axis X axis Z axis X axis Y axis The pass point on an arc can be specified The interpolation speed is the tangential velocity of arc 3-axis spiral interpolation (Pass point specification/ Z-axis movement) + - Off On EL- Off Off On EZ Off On EL+ + - Off On EL- Off Off On EZ Off On EL+ STATUS1 STATUS2 MODE16_LmtSearchRefind_Ref: Search EL + Refind EL, movement (direction) à EL Search à stop à movement (negative direction) à Leave EL(FL) à stop à movement (negative direction) à Refind EL(FL) à stop à movement (negative direction) à EZ trigger à stop Example: Positive direction; limit logic: trigger on high voltage level 3-Axis Arc Interpolation Center Point / End Point / Direction Arc angle =180˚ or 360˚ is not allowed EndPoint Start Point Center Point Z axis X axis Y axis CCW Center Point / Normal line / Angle / Direction EndPoint Normal Line Start Point Center Point Z axis X axis Y axis CCW Normal line positive direction is consistent with axis SoftMotion Introduction Chapter 2 Table of Contents Table of Contents