Rockwell Automation GMLC Reference Manual - Manual (Page 276)

Publication GMLC-5.2 - November 1999
Interpolate Axes 239
The vector speed of the selected X and Y axes is equal to the specified
speed in the position units of the X axis per second or percent of the
maximum speed of the X axis. The speed of the selected Z axis is equal to
the distance traveled by the Z axis divided by the total arc length of the
helix times the specified speed. In absolute mode, the speed of the Z axis
is the result of the equation below times the specified speed in the position
units of the X axis per second or percent of the maximum speed of the X
axis.
In incremental mode, the speed of the Z axis is the result of the equation
below times the specified speed in the position units of the X axis per
second or percent of the maximum speed of the X axis.
Likewise the vector acceleration and deceleration (linear) of the axes is
equal to the specified acceleration/deceleration in the position units of the
X axis per second
2 or percent of the maximum acceleration of the X axis.
The deceleration rate is always the same as the acceleration rate and
cannot be changed while the move is in progress.
Merging Interpolated Motion
You can merge interpolated moves with previous motion from the same
interpolator (using the same axes) as long as the segments are tangential
at their intersection. To smoothly merge the motion caused by the current
Interpolate Axes block with motion caused by a previous Interpolate Axes
block, using the same interpolator and the same axes, select Merge from
Previous Segment.
Destination Z Command Position Z
Helix Radius Arc Angle
−
Ч Ч
2
π
( ) ( )
Dis ce Z
Helix Radius Arc Angle
tan
( ) ( ) 2
π Ч Ч