485
7
7 Motion Control
LIN and INTR: Linear interpolation
LIN and INTR: Linear interpolation
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Overview
These instructions are used to perform linear interpolation at up to three axes at the combined output
frequency.
LIN
X_ Y_ Z_ F_
Linear interpolation Applicable model:
H3U-PM
X X-axis position X-axis target position
Y Y-axis position Y-axis target position
Z Z-axis position Z-axis target position
F Combined
interpolation
speed
Combined interpolation output frequency
INTR
X_ Y_ Z_ F_
Linear interpolation Applicable model:
H3U-PM
X X-axis position X-axis target position
Y Y-axis position Y-axis target position
Z Z-axis position Z-axis target position
F
Combined
interpolation
speed
Combined interpolation output frequency
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Operands
Parameter Bit Element Word Element Immediate operand
X M SM D DD DE R RR RE SD SDD SDE K KK H HH E
Y M SM D DD DE R RR RE SD SDD SDE K KK H HH E
Z M SM D DD DE R RR RE SD SDD SDE K KK H HH E
F M SM D DD DE R RR RE SD SDD SDE K KK H HH E
Note: The elements in gray background are supported. The oating-point immediate operand type is not
displayed. For example, X100 indicates the X oating point 100.00.
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Functions and actions
Linear interpolation can be performed at up to three axes. The axis for which the F function word is omitted
inherits the running speed of the previous interpolation instruction.
Both the absolute position and relative position modes are supported. Both the absolute position and
relative position are relative to the current position.
The current position can be queried in special registers, for example, the 32-bit registers listed in the
following table.
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