Mitsubishi Electric RD77MS2 - 2-Axis Linear Interpolation Control

3 MAJOR POSITIONING CONTROL
3.2 Setting the Positioning Data
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3
2-axis linear interpolation control
In "2-axis linear interpolation control" ("[Da.2] Control method" = ABS linear 2, INC linear 2), two motors are used to carry out
position control in a linear path while carrying out interpolation for the axis directions set in each axis. (Refer to Page 64
Interpolation control for details on interpolation control.)
2-axis linear interpolation control (ABS linear 2)
■Operation chart
In absolute system 2-axis linear interpolation control, the designated 2 axes are used. Linear interpolation positioning is
carried out from the current stop position (start point address) to the address (end point address) set in "[Da.6] Positioning
address/movement amount".
Ex.
When the start point address (current stop position) is (1000, 1000) and the end point address (positioning address) is
(10000, 4000), positioning is carried out as follows.
■Restrictions
An error will occur and the positioning will not start in the following cases. The machine will immediately stop if the error is
detected during a positioning control.
• If the movement amount of each axis exceeds "1073741824 (= 2
30
)" when "0: Composite speed" is set in "[Pr.20]
Interpolation speed designation method", the error "Outside linear movement amount range" (error code: 1A15H, 1A16H)
occurs at a positioning start. (The maximum movement amount that can be set in "[Da.6] Positioning address/movement
amount" is "1073741824 (= 2
30
)".)
X 1 X 2
Y 1
Y 2
Y axis
movement
amount
X axis
movement amount
Reverse direction
Forward direction (X axis)
Reverse direction
Forward direction (Y axis)
Movement by linear interpolation
of the X axis and Y axis
Start point address (X
1 ,Y 1 )
End point address (X 2 ,Y 2 )
(positioning address)
(current stop position)
5000 10000
Axis 1 movement amount
(10000 - 1000 = 9000)
Axis 2 movement amount
(4000 - 1000 = 3000)
(current stop position)
1000
Axis 2
Axis 1
0
Start point address
1000
4000
End point address
(positioning address)