Linear Interpolation Control; Data Used For Control - Mitsubishi Electric MELSEC Q Series User Manual

8 POSITIONING CONTROL

8.3 Linear Interpolation Control

8.3.1 Data used for control

Symbol
Pr.10 Speed limit value
Pr.25 Interpolation group
Parameter
Linear interpolation speed limit
Pr.26
value
Control data Cd.2 Start method
Da.0
Da.1
Da.2
Same
Positioning Da.3
positioning
data
Da.4
No.
Da.6
Da.8
This control is used to execute the position control in a linear path while executing
interpolation for the axis directions set in each axis for the axes set as a group.
Up to 4 axes interpolation controls are possible in QD74MH.
The linear interpolation control for all axes set in one group can be executed by setting
the positioning address and command speed in the positioning data, and by input the
positioning start signal.
Control system
Da.1
Afterwards, the axis in which the positioning start signal is input is defined as the
"reference axis", and the other axis is defined as "interpolation axis".
There are data that set to both of "reference axis" and "interpolation axis", and data
that set to only "reference axis".
The parameters, control data and positioning data used for the linear interpolation
control are shown below.
Refer to Section 6.3 to 6.8 for the buffer memory address and details.
Items
Operation pattern
Control system
Acceleration time
Deceleration time
Command speed
Positioning address/
movement amount
Dwell time
2: ABS linear interpolation
3: INC linear interpolation
Details
Set the maximum speed for each axis.
Set the group to specify the combination for
axes to be interpolation-controlled.
Set the maximum speed at the linear
interpolation control.
Set the starting positioning data No.
Set to only "reference axis". The positioning
data of the same No. as the "interpolation axis"
are used to the "interpolation axis".
Set the operation pattern for the continuous
positioning data.
Set the positioning control system.
Set the acceleration time.
Set the deceleration time.
Set the positioning speed.
Set the positioning address/movement amount.
Set the time from when the positioning data
ends to when the positioning completes.
8 - 9
MELSEC-Q
Reference Interpolation
axis axis
⎯
⎯
⎯
⎯
⎯
⎯
⎯
⎯
⎯ : Must be not set
: Must be set