Linear Interpolation Control - Mitsubishi Electric MELSEC iQ-R Series User Manual

Linear interpolation control

Linear interpolation control specifies an axes group and performs interpolation control so that the path from the stat point
(move start point) to the end point becomes a straight line. In linear interpolation control, interpolation control using maximum
4 axes is performed.
Linear interpolation control includes the following two control methods.
Linear interpolation control
Absolute value linear interpolation control
Relative value linear interpolation control
The absolute value linear interpolation control is executed with MCv_MoveLinearInterpolateAbsolute.
The relative value linear interpolation control is executed with MCv_MoveLinearInterpolateRelative.
Operation chart
The following shows examples of interpolation control for each number of configuration axes used in interpolation control.
■1-axis linear interpolation control (absolute value)
1-axis linear interpolation is executed from the current position at start (start address) to the address set to Position (end
address).
Ex.
The control is as shown below for the following conditions.
LinearAxes: [1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0]
The current stop address: [1000 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0]
Position: [8000 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0]
or
LinearAxes: [1]
The current stop address: [1000]
Position: [8000]
Start point address
(current stop position)
0 1000
Positioning control (movement amount 7000)
■1-axis linear interpolation control (relative value)
1-axis linear interpolation is executed by the movement amount set to Distance from the current position at start (start
address).
The movement direction is determined by a sign (+/-) of the movement amount.
• When the movement direction is positive: Positioning to the positive direction (address increasing direction)
• When the movement direction is negative: Positioning to the negative direction (address decreasing direction)
Negative direction
Movement direction for a
negative movement amount
Description
Specifies the target position of the absolute position, and executes linear interpolation control.
Specifies the relative movement amount from the current position, and executes linear interpolation control.
End point address
(positioning address)
8000
Start point address
(current stop position)
Movement direction for a
positive movement amount
Positive direction
6 AXIS CONTROL FUNCTION
6.4 Multiple Axes Positioning Control
6
221