LSIS XGT Series - Page 27

Chapter 1 Overview
1-6
0
Goal
Position
(Y axis)
X axis
Starting
position
1000 5000 10000
X axis movement value (10000
-
1000
=
9000
)
1000
4000
Y axis movement value
(1000
-
4000
=
-3000
)
(b) Linear Interpolation by incremental coordinates
1) Goal value becomes movement value.
2) Moving direction depends on movement value is positive or negative.
a) Positive value (+ or 0) : Positioning operation with forward direction
b) Negative value (-) : Positioning operation with reverse direction
Y axis Forward direction
X axis
Forward
direction
Y1
Y2
X1
X2
X axis movement value
Y axis
movement
value
X axis
Reverse
direction
Y axis Reverse direction
Linear interpolation end
position(X2, Y2)
Starting position(X1, Y1)
Movement by Linear interpolation
[ Example ]
a) Starting position (1000, 4000)
b) Goal position (9000, -3000)
In this condition, operation is as follows.
0
Linear
interpolation end
position
(Y axis)
(X axis)
Starting
position
1000 5000 10000
X axis movement value(9000)
1000
4000
Y axis
movement value
(-3000)