Mitsubishi Electric MELSEC iQ-R RD75P4, User Manual

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3 MAJOR POSITIONING CONTROL
3.2 Positioning Data Setting
2-axis linear interpolation control
In the 2-axis linear interpolation control ([Da.2] Control method = ABS linear 2, INC linear 2), two motors are used to perform
the position control in a linear path while the interpolation is performed for the axis directions set in each axis.
For details on the interpolation control, refer to the following.

Page 77 Interpolation control
2-axis linear interpolation control (ABS linear 2)
■
Operation chart
In the 2-axis linear interpolation control of the absolute system, specified two axes are used to perform the linear interpolation
positioning from the current stop position (start point address) to the address set in [Da.6] Positioning address/movement
amount (end point address).
■
Restrictions
In the following case, an error occurs and the positioning will not start. During the positioning control, the operation stops
immediately at the detection of the error.
• If the movement amount of each axis exceeds 1073741824 (= 2
30
) when 0: Composite speed is set in [Pr.20] Interpolation
speed specification method, Outside linear movement amount range (Error code: 1A15H) occurs at the start of the
positioning. (The maximum movement amount that can be set in [Da.6] Positioning address/movement amount is
1073741824 (= 2
30
).)
X1 X2
Y2
Y1
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
(current stop position)
(positioning address)
Start point address (X1, Y1)
End point address (X2, Y2)
5000
4000
1000
0 1000 10000
Axis 1 movement amount
(10000 - 1000 = 9000)
Axis 2 movement amount
(4000 - 1000 = 3000)
Axis 2
Axis 1
Start point address (current stop position)
(positioning address)
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.
End point address
Example