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

2-axis linear interpolation control

In "2-axis linear interpolation control" ("[Da.2] Control method" = ABS linear 2, INC linear 2), two motors are used to carry out
position control in a linear path while carrying out interpolation for the axis directions set in each axis. (Refer to Page 57
Interpolation control for details on interpolation control.)
2-axis linear interpolation control (ABS linear 2)
■Operation chart
In absolute system 2-axis linear interpolation control, the designated 2 axes are used. Linear interpolation positioning is
carried out from the current stop position (start point address) to the address (end point address) set in "[Da.6] Positioning
address/movement amount".
Forward direction (Y axis)
Y axis
movement
amount
Reverse
direction
Reverse direction
Ex.
When the start point address (current stop position) is (1000, 1000) and the end point address (positioning address) is
(10000, 4000), positioning is carried out as follows.
Axis 2 movement amount
(4000 - 1000 = 3000)
■Restrictions
An error will occur and the positioning will not start in the following cases. The machine will immediately stop if the error is
detected during a positioning control.
• If the movement amount of each axis exceeds "1073741824 ( = 2
Interpolation speed designation method", the error "Outside linear movement amount range" (error code: 1B15H, 1B16H)
occurs at a positioning start. (The maximum movement amount that can be set in "[Da.6] Positioning address/movement
amount" is "1073741824 ( = 2
3 MAJOR POSITIONING CONTROL
66
3.2 Setting the Positioning Data
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Start point address (X1, Y1)
(current stop position)
Y
2
Y
1
X
1
X axis
movement amount
Axis 2
Start point address (current stop position)
4000
1000
0 1000
Axis 1 movement amount
(10000 - 1000 = 9000)
30
)".)
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End point address (X2, Y2)
(positioning address)
Movement by linear interpolation
of the X axis and Y axis
Forward
direction
(X axis)
X
2
End point address
(positioning address)
Axis 1
5000 10000
30
)" when "0: Composite speed" is set in "[Pr.20]