4-Axis Linear Interpolation Control - Mitsubishi Electric MELSEC-Q Series User Manual

9.2.5 4-axis linear interpolation control

Setting item
[Da.1] Operation pattern
[Da.2] Control method
[Da.3]
[Da.4]
[Da.6]
[Da.7] Arc address
[Da.8] Command speed
[Da.9]
[Da.10]
[Da.20]
[Da.21]
[Da.22]
In "4-axis linear interpolation control" ("[Da.2] Control method" = ABS linear 4, INC
linear 4), four motors are used to carry out position control in a linear path while
carrying out interpolation for the axis directions set in each axis.
(Refer to Section 9.1.6 "Interpolation control" for details on interpolation control.)
[1] 4-axis linear interpolation control (ABS linear 4)
In the absolute system 4-axis linear interpolation control, the designated 4 axes
are used. Linear interpolation positioning is carried out from the current stop
position (start point address) to the address (end point address) set in the "[Da.6]
Positioning address/movement amount".
Positioning data setting example
[When "4-axis linear interpolation control (ABS linear 4)" is set in positioning data
No. 1 of axis 1]
• Reference axis ............. Axis 1
• Interpolation axis.......... Axis 2, Axis3, Axis4 (The required values are also set in
Axis
Axis 1
(reference
axis)
Positioning
complete
ABS
linear 4
Acceleration time
1
No.
Deceleration time
0
No.
Positioning
address/
4000.0 m
movement
amount
–
6000.00
mm/min
Dwell time/JUMP
destination
500ms
positioning data
No.
M code/Condition
data No./Number
10
of LOOP to LEND
repetitions
Axis to be
Axis 2
interpolated No.1
Axis to be
Axis 3
interpolated No.2
Axis to be
Axis 4
interpolated No.3
(Note): Refer to Section 5.3 "List of positioning data" for information on the setting details.
positioning data No. 1 of axis 2, axis 3 and axis 4.)
Setting example
Axis 2 Axis 3
(interpolation (interpolation
axis) axis)
– –
– –
– –
– –
8000.0 m 4000.0 m
– –
– –
– –
– –
– –
– –
– –
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Chapter 9 Major Positioning Control
Axis 4
Setting details
(interpolation
axis)
Set "Positioning complete"
– assuming the next positioning data
will not be executed.
Set absolute system 4-axis linear
–
interpolation control.
Designate the value set in "[Pr.25]
– Acceleration time 1" as the
acceleration time at start.
Designate the value set in "[Pr.10]
– Deceleration time 0" as the
deceleration time at deceleration.
Set the end point address.
3000.0 m
(Assuming "mm" is set in "[Pr.1]
Unit setting".)
Setting not required (setting value is
–
ignored).
Set the speed during movement to
–
the end point address.
Set the time the machine dwells
after the positioning stop (command
–
stop) to the output of the positioning
complete signal.
Set this when other sub operation
commands are issued in
–
combination with the No. 1
positioning data.
–
Set the axis to be interpolated.
– If the self-axis is set, an error will
occur.
–