Mitsubishi Electric RD77MS2 - 3-Axis Linear Interpolation Control

3 MAJOR POSITIONING CONTROL
3.2 Setting the Positioning Data
77
3
3-axis linear interpolation control
In "3-axis linear interpolation control" ("[Da.2] Control method" = ABS linear 3, INC linear 3), three 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.)
3-axis linear interpolation control (ABS linear 3)
■Operation chart
In the absolute system 3-axis linear interpolation control, the designated 3 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 the "[Da.6] Positioning
address/movement amount".
Ex.
When the start point address (current stop position) is (1000, 2000, 1000) and the end point address (positioning address) is
(4000, 8000, 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
)".)
End point address (X 2 ,Y 2 ,Z 2 )
(positioning address)
Y axis movement
amount
Start point address (X
1,Y1,Z1)
(current stop position)
Forward direction (X axis)
Forward direction (Z axis)
Reverse direction
Reverse direction
Forward direction
(Y axis)
Reverse direction
X axis
movement amount
Z axis
movement amount
Movement by linear interpolation
of the X axis, Y axis and Z axis
End point address
(positioning address)
Axis 2 movement amount (8000 - 2000 = 6000)
Start point address
(current stop position)
Axis 1
Axis 3
Axis 2
8000
Axis 3 movement amount
(4000 - 1000 = 3000)
2000
1000
1000
0
Axis 1 movement amount (4000 - 1000 = 3000)
4000
4000