2-Axis Linear Interpolation Control - Mitsubishi Electric QD77MS User Manual

9.2.3 2-axis linear interpolation control

Y axis movement
Reverse direction
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 Section 9.1.6 "Interpolation control" for details on interpolation control.)
[1] 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)
Start point address (X
(current stop position)
Y
2
amount
Y
1
Reverse direction
Example
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)
,Y )
1 1
End point address (X
Movement by linear interpolation of the X axis and Y axis
X X
1 2
X axis movement amount
Start point address
Axis 2
(current stop position)
4000
1000
0 1000 5000
Axis 1 movement amount (10000-1000=9000)
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Chapter 9 Major Positioning Control
,Y )
2 2
(positioning address)
Forward direction (X axis)
End point address
(positioning address)
Axis 1
10000