Linear Interpolation/Joint Interpolation - Mitsubishi Electric MELSEC iQ-R16MTCPU Programming Manual

Linear interpolation/joint interpolation

Linear interpolation
• Linear interpolation operation performs interpolation control that makes the trajectory from the start point (point of the start
of movement) to the end point a straight line.
• The point block data of the positioning point is specified by position type(POSE) of the world coordinate system or base
coordinate system. Joint type(JOINT) cannot be specified.
Joint interpolation
• Joint interpolation operation performs interpolation control with joints starting movement, and completing movement at the
same time from the start point (point of the start of movement) to the end point.
• When moving at high-speeds without considering trajectory, use joint interpolation.
• Point block data of positioning points are specified by position type(POSE), or joint type(JOINT).
7.2 Continuous Trajectory Control (Machine Program Operation)
7 POSITIONING CONTROL
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