86
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.
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
Содержание MELSEC iQ-R RD75P4
Страница 1: ...MELSEC iQ R Positioning Module User s Manual Application RD75P2 RD75P4 RD75D2 RD75D4 ...
Страница 2: ......
Страница 13: ...11 MEMO ...
Страница 19: ...17 CONTENTS INDEX 588 REVISIONS 592 WARRANTY 593 TRADEMARKS 594 ...
Страница 498: ...496 13 PROGRAMMING 13 2 List of Labels Used ...
Страница 503: ...13 PROGRAMMING 13 4 Program Example 501 13 ...
Страница 511: ...13 PROGRAMMING 13 4 Program Example 509 13 Torque change program Step operation program Skip program ...
Страница 512: ...510 13 PROGRAMMING 13 4 Program Example Teaching program Continuous operation interrupt program ...
Страница 513: ...13 PROGRAMMING 13 4 Program Example 511 13 Target position change program Absolute position restoration program ...
Страница 514: ...512 13 PROGRAMMING 13 4 Program Example Restart program Parameter data initialization program ...
Страница 515: ...13 PROGRAMMING 13 4 Program Example 513 13 Flash ROM write program Error reset program ...
Страница 516: ...514 13 PROGRAMMING 13 4 Program Example Stop program ...
Страница 565: ...APPENDICES Appendix 4 Operation Examples of When the Remote Head Module Is Mounted 563 A ...
Страница 568: ...566 APPENDICES Appendix 4 Operation Examples of When the Remote Head Module Is Mounted Common program ...
Страница 584: ...582 APPENDICES Appendix 4 Operation Examples of When the Remote Head Module Is Mounted Restart program ...
Страница 587: ...APPENDICES Appendix 4 Operation Examples of When the Remote Head Module Is Mounted 585 A Stop program ...
Страница 597: ......