Mitsubishi Electric MELSEC iQ-R Series User Manual page 227

■3-axis linear interpolation control (relative value)
3-axis linear interpolation is executed by the movement amount set to Distance from the current position at start (start
address).
The movement direction is determined by a sign (+/-) of the movement amount.
• When the movement direction is positive: Positioning to the positive direction (address increasing direction)
• When the movement direction is negative: Positioning to the negative direction (address decreasing direction)
Positive direction
Positive direction
Z
2
Z axis
movement
amount
Negative direction
Negative direction
Ex.
The control is as shown below for the following conditions.
LinearAxes: [1 2 3 0 0 0 0 0 0 0 0 0 0 0 0 0]
The current stop address: [2000 1000 2000 0 0 0 0 0 0 0 0 0 0 0 0 0]
Distance: [10000 5000 6000 0 0 0 0 0 0 0 0 0 0 0 0 0]
or
LinearAxes: [1 2 3]
The current stop address: [2000 1000 2000]
Distance: [10000 5000 6000]
Axis 2
Axis 3
5000
6000
Axis 3
movement
amount
(6000)
Movement by linear interpolation
positioning of the X axis, Y axis and Z axis
Y
2
Y axis
movement
amount
X
2
Start point address (X
X axis
(current stop position)
movement
amount
Negative direction
Stop address after the positioning control
Start point address
(current stop position)
5000 10000
Axis 1 movement amount (10000)
Positive direction
, Y , Z )
1 1 1
Axis 2 movement amount
(5000)
Axis 1
6 AXIS CONTROL FUNCTION
6.4 Multiple Axes Positioning Control
6
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