Mitsubishi Electric MELSEC iQ-R Series User Manual page 70

2-axis linear interpolation control (INC linear 2)
■Operation chart
In incremental system 2-axis linear interpolation control, the designated 2 axes are used. Linear interpolation positioning is
carried out from the current stop position (start point address) to a position at the end of the movement amount set in "[Da.6]
Positioning address/movement amount". The movement direction is determined by the sign of the movement amount.
• Positive movement amount: Positioning control to forward direction (Address increase direction)
• Negative movement amount: Positioning control to reverse direction (Address decrease direction)
Forward direction (Y axis)
Y axis
movement
amount
Reverse
direction
Reverse direction
Ex.
When the axis 1 movement amount is 9000 and the axis 2 movement amount is -3000, positioning address (10000, 4000) is
carried out as follows.
Axis 2 movement amount
(-3000)
■Restrictions
An error will occur and the positioning will not start in the following cases. The machine will immediately stop if the error is
detected during a positioning control.
• If the movement amount of each axis exceeds "1073741824 ( = 2
Interpolation speed designation method", the error "Outside linear movement amount range" (error code: 1B15H, 1B16H)
occurs at a positioning start. (The maximum movement amount that can be set in "[Da.6] Positioning address/movement
amount" is "1073741824 ( = 2
3 MAJOR POSITIONING CONTROL
68
3.2 Setting the Positioning Data
Downloaded from ManualsNet.com
Start point address (X1, Y1)
(current stop position)
Y
2
Y
1
X
1
X axis
movement amount
Axis 2
Start point address
4000
(current stop position)
1000
0
Axis 1 movement amount (9000)
30
)".)
search engine
Stop address after the positioning control (X2, Y2)
Movement by linear interpolation
positioning of the X axis and Y axis
Forward
direction
(X axis)
X
2
Stop address after
the positioning control
Axis 1
5000 10000
30
)" when "0: Composite speed" is set in "[Pr.20]