Chapter 8 Motion Control Function
8.2.7 Linear Interpolation Control
Interpolation of multiple axes from staring point (current stop position) to target position is performed with linear trajectory by using
relevant axes set in the axis group.
Linear interpolation can be performed up to 10 axes.
1. Linear interpolation control with absolute coordinates
(「Absolute positioning linear interpolation operation(MC_MoveLinearAbsolute)」)
(1) Executes linear interpolation from starting position to the target position designated on positioning data. Positioning control
is carried out based on the position specified from homing.
(2) The direction of movement depends on the starting position and the target position for each axis.
■ Starting position < target position: Positioning operation in forward
■ Starting position > target 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
(3) Interpolation that is currently being executed is stopped with group halt (MC_GroupHalt) or group immediate stop
(MC_GroupStop) motion function block.
(4) The speed value set in absolute position liner interpolation operation (MC_MoveLinearAbsolute) motion function block
means synthesis rate of axes that make up the axis group.
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