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7. POSITIONING CONTROL
7.4
3-Axes Linear Interpolation Control
Servo
Instruction
ABS-3
Absolute data
INC-3
[Control Details]
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Linear interpolation control from the present stop position with the 3-axes
designated in the sequence program positioning commands.
Number of
Positioning
Controllable
Method
Axes
∆
!
3
Incremental
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
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
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Items Set by Peripherals
Common
Arc
∆
∆
!
!
, Y
, Z
), using the home position as the reference.
2
2
2
Forward direction
Reverse direction
0
Home position
Reverse direction
Forward direction
8000
2000
4000
1000
0 1000
Home position
Fig. 7.5 Positioning by Absolute Data Method
7 − 27
Parameter Block
∆
∆
∆
∆
∆
∆
∆
Address after positioning (X
, Y
, Z
2
2
Linear interpolation control
of X, Y, Z axes
Positioning speed
Current stop address (X
, Y
1
1
Forward direction
*
indicates set data
Reverse 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
)
2
, Z
)
1
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