Mitsubishi Electric MELSEC-L LD75D, Руководство пользователя

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9.2.4
3-axis linear interpolation control
In "3-axis linear interpolation control" ("[Da.2] Control system" = ABS linear 3, INC linear 3), three motors are used to
carry out position control in a linear path while carrying out interpolation for the axis directions set in each axis. (Refer
to

Page 359, Section 9.1.6 for details on interpolation control.)
(1) 3-axis linear interpolation control (ABS linear 3)
(a) Operation chart
In absolute system 3-axis linear interpolation control, 3 axes are used. Linear interpolation positioning is carried
out from the current stop position (start point address) to the address (end point address) set in "[Da.6]
Positioning address/movement amount".
Ex.
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.
End point address (X
2
,Y
2,
Z
2
)
(Positioning address)
Movement by linear interpolation
of the X axis, Y axis and Z axis
Y axis movement amount
Start point address (X
1
,Y
1
,Z
1
)
(Current stop position)
Forward direction (X axis)
Forward direction (Z axis)
Reverse direction
Forward direction
(Y axis)
X axis movement amount
Z axis
move
ment
amou
nt
Reverse direction Reverse direction
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)