Chapter 9 Functions
9-21
9.2.5 Linear Interpolation Control
Executes interpolation control from starting position to the goal position with interpolation axis set as the main
axis and sub axis
(1) Linear interpolation control with absolute coordinates
(a) Execute linear interpolation from starting position to the goal position designated on positioning data.
Positioning control is on basis of the designated position from homing.
(b) The direction of movement depends on the starting position and the goal position for each axis.
■ Starting position < Goal position : Positioning operation in forward
■ Starting position > Goal position : Positioning operation in reverse
Y Forward
X Forward
Y1
Y2
X1
X2
Moving amount
of X axis
Moving amount
of Y axis
X Reverse
Y Reverse
Goal position
(X2, Y2)
Starting positon(X1, Y1)
Action by linear interpolation
Note
Because more than 2 axes are in action, so need user to pay attention
1. Available pattern is END, KEEP and available method is SIN, REP. In case of using CONT, it operates as
KEEP.
2. The available auxiliary commands are as follows.
▪ DEC. stop, EMG. stop
3. The commands unavailable in linear interpolation are as follows.
▪ Position/Speed switching control, Position override, Speed override, Position specified speed override
4. Main and sub axis are determined depending on movement amount.
(1) main axis: movement amount is larger between axis X and axis Y
(2) sub axis: movement amount is smaller between axis X and axis Y
5. The parameter items which work depending on the value of each axis are as follows.
▪ Backlash compensation, Software high/low limit
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