Chapter 3 Before positioning
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<Figure 3-5 Operation of position/speed switching control>
Remark
• Position/speed switching command is executed only when each axis is operating.
If it is executed during stop, it may cause error.
• If speed/position switching command is executed during operation by position control, the
command is ignored and causes error. But at this time, positioning doesn’t stop.
3.1.6 Linear interpolation control
• Object moves by linear interpolation control from start address to target address using two axes, X,
Y. There are two method in linear interpolation control, absolute coordinates and incremental
coordinates.
(1) Control by absolute coordinates
When linear interpolation control is executed, object moves based on the origin designated by
Home return.
Direction is determined by start address and target address for each axis.
• start address < target address: Forward
• start address > target address: Reverse
(a) How to set operation data
In the linear interpolation control, since two axes operates concurrently, it needs attention
The following is notice when setting the operation data.
1) Determining main axis
- For linear interpolation, first you have to determine the main axis. In the XGB built-in
positioning, main axis is determined automatically. The one which has a large moving
amount becomes main axis.
2) Determining control method
- In the linear interpolation operation, control methods of both axes should be specified as
“position”. If not, error will occur and it will not be executed.
Switching signal
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