4-Axis Linear Interpolation Control - Mitsubishi Electric MELSEC-L LD75P User Manual

9.2.5

4-axis linear interpolation control

In "4-axis linear interpolation control" ("[Da.2] Control system" = 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 359, Section 9.1.6 for details on interpolation control.)
(1) 4-axis linear interpolation control (ABS linear 4)
In absolute system 4-axis linear interpolation control, 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 "[Da.6]
Positioning address/movement amount".
(a) Positioning data setting example (Reference axis is designated as axis 1.)
The following table shows setting examples when "4-axis linear interpolation control (ABS linear 4)" is set in
positioning data No. 1 of axis 1. (The required values are also set in positioning data No. 1 of axis 2, axis 3 and
axis 4.)
Setting item
[Da.1] Operation pattern
[Da.2] Control system
Acceleration time
[Da.3]
No.
Deceleration time
[Da.4]
No.
Axis to be
[Da.5]
interpolated
Positioning
data No.1
Positioning
[Da.6] address/movement
amount
[Da.7] Arc address
[Da.8] Command speed
[Da.9] Dwell time
[Da.10] M code
Refer to  Page 152, Section 5.3 for information on the setting details.
376
Axis 1 Axis 2
(reference axis) (interpolation
setting axis) setting
example example
Positioning

complete

ABS linear 4

1

0
 
4000.0m 8000.0m
 
6000.00mm/min 

500ms

10
Axis 3 Axis 4
(interpolation (interpolation
axis) setting axis) setting
example example
 
 
 
 
 
4000.0m 3000.0m
 
 
 
 
Setting details
Set "Positioning complete"
assuming that the next positioning
data will not be executed.
Set absolute system 4-axis linear
interpolation control.
Designate the value set in "[Pr.25]
Acceleration time 1" as the
acceleration time at start.
Designate the value set in "[Pr.10]
Deceleration time 0" as the
deceleration time at deceleration.
Setting not required. (Setting value
will be ignored.)
When axis 1 is used as a reference
axis, the interpolation axes are axes
2, 3 and 4.
Set the end point address.
(Assuming "mm" is set in "[Pr.1]
Unit setting".)
Setting not required. (Setting value
will be ignored.)
Set the speed during movement to
the end point address.
Set the time the machine dwells
after the positioning stop (pulse
output stop) to the output of the
positioning complete signal.
Set this when other sub operation
commands are issued in
combination with the No. 1
positioning data.