XGB EtherCAT Helical Interpolation

Helical interpolation is used to move two axes in a circular path based on the target position and type of circular interpolation mode and a third axis is executing a linear interpolation synchronizing with the circular interpolation.

  • The XPM_IST function block is used to execute the helical interpolation from the Position data table.

  • The axes being controlled must already be configured using the XG-PM software before using XPM_IST.

  • XPM_ECON and XPM_SVON must be executed before any helical interpolation moves.

  • This example is in scan program LP633_HelicalInterpolation_Example in OnlineHelp_ECAT_Example.

Element Name Element Type Description
REQ Input Edge detected request to execute the function block.
BASE Input Base number of the motion controller. Set to 0.
SLOT Input Slot number of the motion controller. Set to the slot number of the XBF-PN04B or XBF-PN08B module.
AXIS Input Axis number of the main axis for the helical interpolation move. XBF-PN04B:1~4, XBF-PN08B:1~8
STEP Input Step to execute in the position table. Must be a value between 0 – 400. If value is set to 0, then the current step is executed. This can be a constant or variable.
DONE Output Status that function block is done.
STAT Output Current status of the function block. Non-zero numbers will be an error or warning.

The position table is setup in the XG-PM software.

Step Action
1

Open the XG5000 project for the application. Go to Tools menu èPosition Control to open XG-PM software.
2

Open the XG-PM project or Connect to PLC and select ProjectèOpen from PLC.
3

Open the Position data table in the Workspace for the axis that is being configured. This example shows Axis #1.

  • Axis 1 is the main axis. Set cir. Int. mode to Middle-Point. Set the target position for the X component of the movement.

  • Axis 2 is the sub axis. Set cir. Int. mode to Middle-Point. Set the target position for the Y component of the movement.

  • Axis 3 is the helical interpolation axis for the main Axis 1. Set target position for the Z component of the movement.

  • The circular interpolation mode can be set to Middle-Point, Center-Point, CW or Center-Point, CCW.

  • A valid circular interpolation auxiliary point (center point) must be entered for Axes 1 and 2.

  • Axis 1 control type is set to ABS, (CIR)INT. Axis 2 & 3 can be left at the default value.

  • In this example the starting points for Axis 1, 2 and 3 are (0,0,0). The center point of the circle is chosen to be (800,400)

  • The target positions for Axis 1, 2 and 3 are (400,1200,700).

  • Step 25 in the Position table is being used for the helical interpolation move.

XPM_IST Code for Example

XG-PM Trend of Example

 

 

 

 

 

 

 

 

LP633