3-Axis Linear Interpolation Control - Mitsubishi Electric QD75MH1 User Manual

9 MAJOR POSITIONING CONTROL

9.2.4 3-axis linear interpolation control

Example
When the start point address (current stop positon) is (1000, 2000, 1000) and the end point address
(positioning address) is (4000, 8000, 4000), positioning is carried out as follows.
Axis 3 movement amount
(4000-1000=3000)
In "3-axis linear interpolation control" ("
linear 3), three 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 Section 9.1.6 "Interpolation control" for details on interpolation control.)
[1] 3-axis linear interpolation control (ABS linear 3)
Operation chart
In the absolute system 3-axis linear control, using an address established by a
machine OPR in the 3-axis coordinate space, a linear interpolation positioning is
carried out from the current stop position (start point address) to the address (end
point address) set in the "
Forward direction (Z axis)
Reverse direction
Axis 3
4000
Da.2
Control system" = ABS linear 3, INC
Da.6
Positioning address/movement amount".
Forward direction
End point address (X
(Y axis)
X axis movement amount
Reverse direction Reverse direction
End point address
(positioning address)
Axis 2
8000
2000
1000
1000 4000
0
9 - 33
MELSEC-Q
,Y Z )
2 2, 2
(Positioning address)
Movement by linear interpolation
of the X axis, Y axis and Z axis
Y axis movement amount
Start point address (X
(Current stop position)
Forward direction (X axis)
Axis 2 movement amount (8000-2000=6000)
Start point address
(current stop position)
Axis 1
Axis 1 movement amount
(4000-1000=3000)
,Y ,Z )
1 1 1