Mitsubishi Electronics QD75D, QD75P 4 3-axis linear interpolation control, Forward direction Axis

9MAJOR POSITIONING CONTROL

9.2.4 3-axis linear interpolation control

MELSEC-Q

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 each axis.

(Refer to Section 9.1.6 "Interpolation control" for details on interpolation control.)

[1] 3-axis linear interpolation control (ABS linear 3)

Operation chart

In the absolute system 3-axis linear control, using an address established by a machine OPR in the 3-axis coordinate space, a 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".

Forward direction

(Y axis) End point address (X2,Y2,Z2)

(Positioning address)

	Movement by linear interpolation
	of the X axis, Y axis and Z axis
Forward direction (Z axis)	Y axis movement amount
	Start point address (X1,Y1,Z1)
	(Current stop position)
	X axis movement amount
Reverse direction	Forward direction (X axis)

Reverse direction Reverse direction

Example

When the start point address (current stop positon) is (1000, 2000, 1000) and the end point address (positioning address) is (4000, 8000, 4000), positioning is carried out as follows.

End point address (positioning address)

Axis 2

8000

Axis 2 movement amount (8000-2000=6000)

				Start point address
Axis 3				(current stop position)
Axis 3 movement amount	4000	2000
(4000-1000=3000)		1000
				Axis 1
		0	1000	4000
				Axis 1 movement amount
				(4000-1000=3000)

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