Mitsubishi Electronics QD75D, QD75P 9.2.4 3-axis linear interpolation control, [1] 3-axis linear interpolation control (ABS linear 3)

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MELSEC-Q
9 MAJOR POSITIONING CONTROL
9.2.4 3-axis linear interpolation control
In "3-axis linear interpolation control" (" Da.2 Control system" = 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 eac h axis.
(Refer to Section 9.1.6 "Interpolation control" for details on in terpolation control.)
[1] 3-axis linear interpolation control (ABS linear 3)
Operation chart
In the absolute system 3-axis linear control, using an address establis hed by a
machine OPR in the 3-axis coordinate space, a linear interpolation pos itioning 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".
End point address (X2,Y2,Z2)
(Positioning address)
Movement by linear interpolation
of the X axis, Y axis and Z axis
Y axis movement amount
Start point address (X1,Y1,Z1)
(Current stop position)
Forward direction (X axis)
Forward direction (Z axis)
Reverse direction
Forward direction
(Y axis)
X axis movement amount
Z axis movement amount
Reverse direction Reverse direction
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)
4000 2000
1000 1000
04000
Axis 1 movement amount
(4000-1000=3000)
Example
When the start point address (current stop positon) is (1000, 2000, 1000) and the end point addr ess
(positioning address) is (4000, 8000, 4000), positioning is carried out as follows.