3-Axis Linear Interpolation Control - Mitsubishi Electric MELSEC iQ-R-RD75P4 User Manual

3-axis linear interpolation control

In the 3-axis linear interpolation control ([Da.2] Control method = ABS linear 3, INC linear 3), three motors are used to perform
the position control in a linear path while the interpolation is performed for the axis directions set in each axis.
For details on the interpolation control, refer to the following.
Page 77 Interpolation control
3-axis linear interpolation control (ABS linear 3)
■Operation chart
In the 3-axis linear interpolation control of the absolute system, three axes are used to perform the linear interpolation
positioning from the current stop position (start point address) to the address set in [Da.6] Positioning address/movement
amount (end point address).
Forward direction (Z axis)
Reverse direction
Example
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.
3 MAJOR POSITIONING CONTROL
90
3.2 Positioning Data Setting
End point address (X2, Y2, Z2)
(positioning address)
Forward direction
(Y axis)
X axis movement amount
Reverse direction Reverse direction
Axis 3
4000
Axis 3 movement amount
(4000 - 1000 = 3000)
Movement by linear interpolation
of the X axis, Y axis, and Z axis
Y axis movement amount
Start point address (X1, Y1, Z1)
(current stop position)
Forward direction (X axis)
End point address
(positioning address)
Axis 2
8000
2000
1000
1000 4000
0
Axis 2 movement amount
(8000 - 2000 = 6000)
Start point address
(current stop position)
Axis 1
Axis 1 movement amount
(4000 - 1000 = 3000)