7. POSITIONING CONTROL
7
−
27
7.4
3-Axes Linear Interpolation Control
Linear interpolation control from the present stop position with the 3-axes
designated in the sequence program positioning commands.
Items Set by Peripherals
Common
Arc
Parameter Block
Others
Servo
Instruction
Positioning
Method
Number of
Controllable
Axes
Pa
ra
me
te
r B
lo
c
k
N
o
.
Ax
is
A
d
d
ress/T
rav
el V
a
lu
e
C
o
m
m
a
n
d
ed
S
p
eed
Dwell T
im
e
M
C
ode
T
o
rq
ue
L
imi
t Va
lu
e
A
u
xiliar
y
P
o
in
t
Ra
d
iu
s
Cen
ter
P
o
in
t
Co
n
tr
o
l Un
it
Sp
e
e
d
L
imi
t Va
lu
e
A
c
celer
atio
n
T
im
e
D
e
celer
atio
n
T
im
e
R
a
p
id
S
to
p
D
eceler
atio
n
T
im
e
T
o
rq
ue
L
imi
t Va
lu
e
D
e
celer
atio
n
P
ro
c
essin
g
o
n
S
to
p
I
n
p
u
t
A
ll
o
w
a
b
le
Erro
r R
a
ng
e
f
o
r C
irc
ul
a
r I
n
te
rp
o
la
ti
o
n
SCurv
e
Ra
ti
o
C
a
n
cel
St
a
rt
S
p
eed
C
h
an
g
e
ABS-3
Absolute data
INC-3
Incremental
3
∆
!
!
!
∆
∆
∆
∆
∆
∆
∆
∆
∆
∆
∆
∆
OK
!
: Must be set
∆
: Set if required
[Control Details]
Control with ABS-3 (absolute data method)
(1) Linear interpolation with 3-axes from the current stop address (X
1
, Y
1
, Z
1
) to
the designated address (X
2
, Y
2
, Z
2
), using the home position as the reference.
(2) The travel direction is determined from the stop addresses and designated
addresses for the respective axes.
* indicates set data
Reverse direction
0
Reverse direction
Home position
Forward direction
Forward direction
Forward direction
Address after positioning (X
2
, Y
2
, Z
2
)
Linear interpolation control
of X, Y, Z axes
Positioning speed
Current stop address (X
1
, Y
1
, Z
1
)
Reverse direction
The travel direction is shown below if the current stop address is (1000,
2000, 1000) and the designated address is (4000, 8000, 4000).
Forward direction
Positioning address
(4000, 8000, 4000)
Current stop address
(1000, 2000, 1000)
8000
2000
4000
0 1000
1000
4000
X-, Y-, Z- axis linear
interpolation movement
Forward direction
Forward direction
Home position
Fig. 7.5 Positioning by Absolute Data Method
Example
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