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 (INC linear 2)
■
Operation chart
In the 2-axis linear interpolation control of the incremental system, specified two axes are used to perform the linear
interpolation positioning for the movement amount set in [Da.6] Positioning address/movement amount from the current stop
position (start point address). The movement direction is determined by the sign of the movement amount.
■ 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
).)
Y2
X1 X2
Y1
Forward direction (Y axis)
Start point address (X1, Y1)
(current stop position)
Movement by linear interpolation
of the X axis and Y axis
Forward
direction (X axis)
Y axis
movement
amount
Reverse
direction
Reverse direction
X axis movement
amount
5000 1000 0 10000
4000
1000
Example
Start point address
Stop address after the positioning control
Axis 2
Axis 1
(current stop position)
When the axis 1 movement amount is 9000 and the axis 2 movement amount is -3000,
positioning is carried out as follows.
Axis 2 movement
amount (-3000)
Axis 1 movement amount (9000)