4-Axis Linear Interpolation Control - Mitsubishi Electric MELSEC iQ-R Series User Manual

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 Page 57
Interpolation control for details on interpolation control.)
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 "[Da.6] Positioning
address/movement amount".
■Setting positioning data
When using 4-axis linear interpolation control (ABS linear 4), set the following positioning data.
: Always set, : Set as required, : Setting restricted, : Setting not required
Setting item
[Da.1] Operation pattern
[Da.2] Control method
[Da.3] Acceleration time No.
[Da.4] Deceleration time No.
[Da.6] Positioning address/movement amount
[Da.7] Arc address
[Da.8] Command speed
[Da.9] Dwell time/JUMP destination positioning data No.
[Da.10] M code/Condition data No./Number of LOOP to LEND repetitions/Number of pitches
[Da.20] Axis to be interpolated No.1
[Da.21] Axis to be interpolated No.2
[Da.22] Axis to be interpolated No.3
[Da.27] M code ON signal output timing
[Da.28] ABS direction in degrees
[Da.29] Interpolation speed designation method
Refer to the following for information on the setting details.
Page 452 Positioning data
3 MAJOR POSITIONING CONTROL
74
3.2 Setting the Positioning Data
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• When the "reference axis speed" is set during 4-axis linear interpolation control, set so the major axis side
becomes the reference axis. If the minor axis side is set as the reference axis, the major axis side speed
may exceed "[Pr.8] Speed limit value".
• Refer to Page 57 Interpolation control for the reference axis and interpolation axis combinations.
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Setting required/not Setting required/not
required for the required for the
reference axis interpolation axis
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(Set ABS linear 4.)
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