# 3-axis Linear Interpolation Control - Mitsubishi Electric RD77MS2 User Manual

Melsec iq-r simple motion module.

## 3-axis linear interpolation control

In "3-axis linear interpolation control" ("[Da.2] Control method" = ABS linear 3, INC 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 Page 64 Interpolation control for details on interpolation control.)
3-axis linear interpolation control (ABS linear 3)
■Operation chart
In the absolute system 3-axis linear interpolation control, the designated 3 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 the "[Da.6] Positioning
Forward direction (Z axis)
Reverse direction
Ex.
When the start point address (current stop position) is (1000, 2000, 1000) and the end point address (positioning address) is
(4000, 8000, 4000), positioning is carried out as follows.
Axis 3
4000
Axis 3 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: 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
Forward direction
(Y axis)
X axis
movement amount
Reverse direction
Reverse direction
Axis 2
8000
Axis 2 movement amount (8000 - 2000 = 6000)
2000
1000
1000
0
4000
30
)".)
,Y
,Z
)
2
2
2
Movement by linear interpolation
of the X axis, Y axis and Z axis
Y axis movement
amount
,Y
1
(current stop position)
Forward direction (X axis)
(current stop position)
Axis 1
Axis 1 movement amount (4000 - 1000 = 3000)
30
)" when "0: Composite speed" is set in "[Pr.20]
3 MAJOR POSITIONING CONTROL
,Z
)
1
1
3.2 Setting the Positioning Data
3
77