Mitsubishi Electric MELSEC-L LD75D, Руководство пользователя

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9.2.5
4-axis linear interpolation control
In "4-axis linear interpolation control" ("[Da.2] Control system" = ABS linear 4, INC linear 4), four 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) 4-axis linear interpolation control (ABS linear 4)
In absolute system 4-axis linear interpolation control, 4 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".
(a) Positioning data setting example (Reference axis is designated as axis 1.)
The following table shows setting examples when "4-axis linear interpolation control (ABS linear 4)" is set in
positioning data No. 1 of axis 1. (The required values are also set in positioning data No. 1 of axis 2, axis 3 and
axis 4.)
Refer to  Page 152, Section 5.3 for information on the setting details.
Setting item
Axis 1
(reference axis)
setting
example
Axis 2
(interpolation
axis) setting
example
Axis 3
(interpolation
axis) setting
example
Axis 4
(interpolation
axis) setting
example
Setting details
Positioning
data No.1
[Da.1] Operation pattern
Positioning
complete
  
Set "Positioning complete"
assuming that the next positioning
data will not be executed.
[Da.2] Control system ABS linear 4
  
Set absolute system 4-axis linear
interpolation control.
[Da.3]
Acceleration time
No.
1   
Designate the value set in "[Pr.25]
Acceleration time 1" as the
acceleration time at start.
[Da.4]
Deceleration time
No.
0
  
Designate the value set in "[Pr.10]
Deceleration time 0" as the
deceleration time at deceleration.
[Da.5]
Axis to be
interpolated
   
Setting not required. (Setting value
will be ignored.)
When axis 1 is used as a reference
axis, the interpolation axes are axes
2, 3 and 4.
[Da.6]
Positioning
address/movement
amount
4000.0

m 8000.0

m 4000.0

m 3000.0

m
Set the end point address.
(Assuming "mm" is set in "[Pr.1]
Unit setting".)
[Da.7] Arc address
   
Setting not required. (Setting value
will be ignored.)
[Da.8] Command speed 6000.00mm/min
  
Set the speed during movement to
the end point address.
[Da.9] Dwell time 500ms
  
Set the time the machine dwells
after the positioning stop (pulse
output stop) to the output of the
positioning complete signal.
[Da.10] M code 10
  
Set this when other sub operation
commands are issued in
combination with the No. 1
positioning data.