LSIS XGT Series - Page 418

Chapter 8 Motion Control Function
8-27
2. Linear interpolation control with relative coordinates
(「Relative positioning interpolation operation (MC_MoveLinearRelative)」)
(1) Linear interpolation is executed from starting position to movement direction targeted by each axis and position t hat
includes movement direction. Positioning control is based on the current stop position.
(2) Movement direction is determined by the sign set in the target position (movement distance) of each axis.
■ When the sign of movement distance is positive (+ or no sign): Positioning operation in forward direction (starting position
increase direction)
■ When the sign of movement distance is negative ( - ):Positioning operation in reverse direction (starting position
decrease direction)
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 relative position liner interpolation operation (MC_MoveLinearRelative) motion function block
means interpolation speed.
The operation speed of each configuration axis is calculated as follows.
aositiondatpeedsetinpOperationsFinspeedInterpolat )(
2
10
2
2
2
1
...)( SSSSmountingmovingaInterpolat 
)(
)(
)()(1
1
1
SmountingmovingaInterpolat
SamountaxismovingMain
FingspeedInterpolatVspeedAxis 
)(
)(1
)()( speed 2
2
2
SmountingmovingaInterpolat
SntmovingamouaxisSub
FingspeedInterpolatVAxis


)(
)(2
)()( speed 10
10
10
SmountingmovingaInterpolat
SntmovingamouaxisSub
FingspeedInterpolatVAxis

