MITSUBISHI ELECTRIC Mitsubishi Programmable Logic Controller QD75D - Manual (Page 329)

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MELSEC-Q
9 MAJOR POSITIONING CONTROL
9.2.3 2-axis linear interpolation control
In "2-axis linear interpolation control" (" Da.2 Control system" = ABS linear 2, INC
linear 2), two 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] 2-axis linear interpolation control (ABS linear 2)
Operation chart
In absolute system 2-axis linear control, addresses established by a machine OPR
on a 2-axis coordinate plane 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".
X 1 X 2
Y 1
Y 2
Reverse direction Forward direction (X axis)
Reverse direction
Forward direction (Y axis)
Movement by linear interpolation of the X axis and Y axis
Start point address (X 1 ,Y 1 )
(current stop position)
Y axis movement
X axis movement amount
amount
End point address (X 2 ,Y 2 )
(positioning address)
Example
5000 10000
Axis 2 movement amount
(4000-1000=3000)
4000
1000
Axis 2
Axis 1
0
(current stop position)
End point address
When the start point address (current stop position) is (1000, 1000) and the end point address
(positioning address) is (10000, 4000), positioning is carried out as follows.
Axis 1 movement amount (10000-1000=9000)
Start point address
(positioning address)
1000