Mitsubishi Electric RD77MS2 User Manual page 77

2-axis linear interpolation control (INC linear 2)
■Operation chart
In incremental 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 a position at the end of the movement amount set in "[Da.6]
Positioning address/movement amount". The movement direction is determined by the sign of the movement amount.
• Positive movement amount: Positioning control to forward direction (Address increase direction)
• Negative movement amount: Positioning control to reverse direction (Address decrease direction)
Forward direction (Y axis)
Y
2
Y axis
movement amount
Y
1
Reverse direction
Reverse direction
Ex.
When the axis 1 movement amount is 9000 and the axis 2 movement amount is -3000, positioning address (10000, 4000) is
carried out as follows.
Axis 2
4000
Axis 2 movement amount
(-3000)
1000
0
■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 operation.
• If the movement amount of each axis exceeds "1073741824 (= 2
Interpolation speed designation method", the error "Outside linear movement amount range" (error code: 1A15H, 1A16H)
occurs at a positioning start. (The maximum movement amount that can be set in "[Da.6] Positioning address/movement
amount" is "1073741824 (= 2
Start point address (X ,Y )
1 1
(current stop position)
Stop address after the positioning control
(X ,Y
2
Movement by linear interpolation
positioning of the X axis and Y axis
X X
1 2
X axis
movement amount
Start point address
(current stop position)
5000
Axis 1 movement amount (9000)
30
)".)
)
2
Forward direction (X axis)
Stop address after
the positioning control
Axis 1
10000
30
)" when "0: Composite speed" is set in "[Pr.20]
3 MAJOR POSITIONING CONTROL
3.2 Setting the Positioning Data
3
75