3-Axes Linear Interpolation Control - Mitsubishi Electric A173UHCPU Programming Manual

7. POSITIONING CONTROL
7.4

3-Axes Linear Interpolation Control

Servo Positioning
Instruction Method
ABS-3
Absolute data
INC-3
Incremental
[Control Details]
Linear interpolation control from the current stop position with the 3-axes
designated in the sequence program positioning commands.
Common
Number of
Controllable
Axes
∆
! ! !
3
Control with ABS-3 (absolute data method)
(1) Linear interpolation with 3-axes from the current stop address (X
the designated address (X
(2) The travel direction is determined from the stop addresses and designated
addresses for the respective axes.
Forward direction
Forward direction
Reverse direction
Zero point
Reverse direction
Example
The travel direction is shown below if the current stop address is (1000,
2000, 1000) and the designated address is (4000, 8000, 4000).
Forward direction
Fig.7.5 Positioning by Absolute Data Method
Items Set by Peripherals
Arc
∆ ∆
, Y , Z ), using the home position as the reference.
2 2 2
Address after positioning
(X2,Y2,Z2)
Presitioning speed
Current stop address
(X Y Z )
1, 1, 1
0
Reverse direction
Forward direction
8000
2000
4000
1000
0 1000
Home position
7 − 27
Parameter Block
∆ ∆ ∆ ∆ ∆ ∆
Linear interpolation control
of X, Y, Z axis
Forward direction
Positioning address
(4000, 8000, 4000)
X-, Y-, Z- axis linear
interpolation movement
Current stop address
(1000, 2000, 1000)
Forward direction
4000
Others
∆ ∆ ∆ ∆
OK
! : Must be set
∆ : Set if required
, Y , Z ) to
1 1 1
: indicates set data