2-Axes Linear Interpolation Control - Mitsubishi Electric SV13/22 Programming Manual

7. POSITIONING CONTROL
7.3

2-Axes Linear Interpolation Control

Servo
Instruction
M 90 39
0 M 20 00 Tu rns ON PL C re ad y.
M 90 74
Tu rns ON a ll a xes se rvo sta rt
2 M 20 42
co mma nd .
X 000 M 90 74 M 20 09 M 90 76
4 P LS M 0 Tu rns ON se rvo p rog ram N o. 0 Absolute data
M 0 sta rt co mma nd fl ag (M 1) wh en
1 1 S ET M 1 X 000 tu rns OFF → ON.
M 90 74 M 1 M 20 04 K
1 3 S VST J4 0 S ervo p rog ra m N o. 0 e xecu tio n
re qu est.
R ST M 1 Tu rns OFF M 1 on c omp le ti on
o f se rvo p rog ram N o. 0 e xecu tion
C IRC UIT E ND re qu est.
INC-2
[Control Details]
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Linear interpolation control from the present stop position with the2-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.
Number of
Positioning
Controllable
Method
Axes
∆
!
2
Incremental
Control with ABS-2 (absolute data method)
(1) Linear interpolation with two 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.
Y-axis travel value
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)
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Items Set by Peripherals
Common Arc
∆ ∆
! !
, Y ), using the home position as the reference.
2 2
Forward direction Current stop address (X
Y
1
Y
2
Reverse
direction
Reverse direction
4000
2000
0 1000
X- axis travel value
(10000- 1000 = 9000)
Fig. 7.3 Positioning by Absolute Data Method
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 X
1 2
* indicates set data
X-axis travel value
Present address
Stop address
5000 10000
Others
∆ ∆ ∆
OK
! : Must be set
∆ : Set if required
, Y ) to the
1 1
)