Mitsubishi Electric MELSEC iQ-R Series User Manual page 226

■3-axis linear interpolation control (absolute value)
3-axis linear interpolation is executed from the current position at start (start address) to the address set to Position.
The movement direction is determined by the current position at start (start address) and the end address of each axis.
Positive direction
(Z axis)
Negative direction
Ex.
The control is as shown below for the following conditions.
LinearAxes: [1 2 3 0 0 0 0 0 0 0 0 0 0 0 0 0]
The current stop address: [1000 2000 1000 0 0 0 0 0 0 0 0 0 0 0 0 0]
Position: [4000 8000 4000 0 0 0 0 0 0 0 0 0 0 0 0 0]
or
LinearAxes: [1 2 3]
The current stop address: [1000 2000 1000]
Position: [4000 8000 4000]
Axis 3
Axis 3 movement amount
(4000 -1000 = 3000)
6 AXIS CONTROL FUNCTION
224
6.4 Multiple Axes Positioning Control
Positive
End point address (X
direction
(positioning address)
(Y axis)
X axis
movement amount
Negative direction
Negative direction
End point address
(positioning address)
Axis 2
8000
2000
4000
1000
0 1000
, Y , Z )
2 2 2
Movement by linear interpolation
of the X axis, Y axis and Z axis
Y axis movement amount
Start point address (X , Y , Z
1 1
(current stop position)
Positive direction (X axis)
Axis 2 movement amount (8000 - 2000 = 6000)
Start point address
(current stop position)
Axis 1
4000
Axis 1 movement amount (4000 - 1000 = 3000)
)
1