Mitsubishi Electric MELSEC iQ-R RD75P4, User Manual

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3 MAJOR POSITIONING CONTROL
3.2 Positioning Data Setting
3-axis linear interpolation control
In the 3-axis linear interpolation control ([Da.2] Control method = ABS linear 3, INC linear 3), three 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
3-axis linear interpolation control (ABS linear 3)
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Operation chart
In the 3-axis linear interpolation control of the absolute system, three 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).
(positioning address)
Y axis movement amount
(current stop position)
Forward direction (X axis)
Forward direction (Z axis)
Reverse direction
X axis movement amount
Z axis movement amount
Reverse direction Reverse direction
Forward direction
(Y axis)
End point address (X2, Y2, Z2)
Movement by linear interpolation
of the X axis, Y axis, and Z axis
Start point address (X1, Y1, Z1)
8000
4000
2000
1000
1000
0
4000
End point address
(positioning address)
Axis 2 movement amount
(8000 - 2000 = 6000)
Start point address
(current stop position)
Axis 1
Axis 3
Axis 2
Axis 3 movement amount
(4000 - 1000 = 3000)
Axis 1 movement amount
(4000 - 1000 = 3000)
Example
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.