Mitsubishi Electric MELSEC Q Series, Руководство пользователя

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Chapter 9 Major Positioning Control
9.2.5 4-axis linear interpolation control
In "4-axis linear interpolation control" ("[Da.2] Control method" = 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 Section 9.1.6 "Interpolation control" for details on interpolation control.)
[1] 4-axis linear interpolation control (ABS linear 4)
In the absolute system 4-axis linear interpolation control, the designated 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 the "[Da.6]
Positioning address/movement amount".
Positioning data setting example
[When "4-axis linear interpolation control (ABS linear 4)" is set in positioning data
No. 1 of axis 1]
• Reference axis ............. Axis 1
• Interpolation axis.......... Axis 2, Axis3, Axis4 (The required values are also set in
positioning data No. 1 of axis 2, axis 3 and axis 4.)
Axis
Setting item
Setting example
Setting details
Axis 1
(reference
axis)
Axis 2
(interpolation
axis)
Axis 3
(interpolation
axis)
Axis 4
(interpolation
axis)
A
xi
s 1
P
os
iti
oni
ng dat
a No.
1
[Da.1] Operation pattern
Positioning
complete
– – –
Set "Positioning complete"
assuming the next positioning data
will not be executed.
[Da.2] Control method
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.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 is
ignored).
[Da.8] Command speed
6000.00
mm/min
– – –
Set the speed during movement to
the end point address.
[Da.9]
Dwell time/JUMP
destination
positioning data
No.
500ms – – –
Set the time the machine dwells
after the positioning stop (command
stop) to the output of the positioning
complete signal.
[Da.10]
M code/Condition
data No./Number
of LOOP to LEND
repetitions
10 – – –
Set this when other sub operation
commands are issued in
combination with the No. 1
positioning data.
[Da.20]
Axis to be
interpolated No.1
Axis 2 – – –
Set the axis to be interpolated.
If the self-axis is set, an error will
occur.
[Da.21]
Axis to be
interpolated No.2
Axis 3 – – –
[Da.22]
Axis to be
interpolated No.3
Axis 4 – – –
(Note): Refer to Section 5.3 "List of positioning data" for information on the setting details.