7.3 2-Axes Linear Interpolation Control - Mitsubishi Electric A173UHCPU Programming Manual

7. POSITIONING CONTROL

7.3 2-Axes Linear Interpolation Control

Servo Positioning
Instruction Method
ABS-2
Absolute data
INC-2
Incremental
[Control Details]
Linear interpolation control from the current stop position with the 2-axes
designated in the sequence program positioning commands.
2-axes linear interpolation control uses ABS-2 (absolute data method) and INC-2
(incremental method) servo instructions.
Common
Number of
Controllable
Axes
∆
! ! !
2
Control with ABS-2 (absolute data method)
(1) Linear interpolation with 2-axes from the current stop address (X
designated address (X
(2) The travel direction is determined from the stop addresses and designated
addresses for the respective axes.
Forward direction
Y-axis travel value
Reverse
direction
Example
The travel direction is shown below if the current stop address is (1000,
4000), and the designated stop address is (10000, 2000).
Y- axis travel value
(4000- 2000 = 2000)
Fig.7.3 Positioning by Absolute Data Method
Items Set by Peripherals
Arc
∆ ∆ ∆
, Y ), using the home position as the reference.
2 2
Current stop address (X
Y
1
Y
2
X
1
Reverse direction
Current address
4000
2000
0 1000
X- axis travel value
(10000- 1000 = 9000)
7 − 23
Parameter Block
∆ ∆ ∆ ∆ ∆ ∆
, Y )
1 1
Stop address (X , Y )
2 2
Movement due to X-axis,
Y- axis linear interpolation
Positioning speed
Forward direction
X
2
X-axis travel value
: indicates set data
Stop address
5000 10000
Others
∆ ∆ ∆
OK
! : Must be set
∆ : Set if required
, Y ) to the
1 1