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4-axis Linear Interpolation Control - Mitsubishi Electric RD77MS2 User Manual

Melsec iq-r simple motion module.
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  • Contents

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4-axis linear interpolation control

In "4-axis linear interpolation control" ("[Da.2] Control method" = ABS linear 4, INC linear 4), four 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.)
4-axis linear interpolation control (ABS linear 4)
In the absolute system 4-axis linear interpolation control, the designated 4 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
address/movement amount".
■Setting positioning data
When using 4-axis linear interpolation control (ABS linear 4), set the following positioning data.
: Always set, : Set as required, : Setting restricted, : Setting not required
Setting item
[Da.1]
Operation pattern
[Da.2]
Control method
[Da.3]
Acceleration time No.
[Da.4]
Deceleration time No.
[Da.6]
Positioning address/movement amount
[Da.7]
Arc address
[Da.8]
Command speed
[Da.9]
Dwell time/JUMP destination positioning data No.
[Da.10]
M code/Condition data No./Number of LOOP to LEND repetitions/
Number of pitches
[Da.20]
Axis to be interpolated No.1
[Da.21]
Axis to be interpolated No.2
[Da.22]
Axis to be interpolated No.3
[Da.27]
M code ON signal output timing
[Da.28]
ABS direction in degrees
[Da.29]
Interpolation speed designation method
*1 Refer to the following for information on the setting details.
Page 445 Positioning Data
• When the "reference axis speed" is set during 4-axis linear interpolation control, set so the major axis side
becomes the reference axis. If the minor axis side is set as the reference axis, the major axis side speed
may exceed the "[Pr.8] Speed limit value".
• Refer to Page 64 Interpolation control for the reference axis and interpolation axis combinations.
Setting required/not required
for the reference axis
(Set ABS linear 4.)
3 MAJOR POSITIONING CONTROL
3.2 Setting the Positioning Data
Setting required/not required
for the interpolation axis
3
81

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