7. POSITIONING CONTROL
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7.3 2-Axes Linear Interpolation Control
Linear interpolation control from the current stop position with the 2-axes
designated in the sequence program positioning commands.
2-axes linear interpolation control uses ABS-2 (absolute data method) and INC-2
(incremental method) servo instructions.
Items Set by Peripherals
Common Arc Parameter Block Others
Servo
Instruction
Positioning
Method
Number of
Controllable
Axes
Parameter Block No.
Axis
Address/Travel Value
Commanded Speed
Dwell Time
M-Code
Torque Limit Value
Auxiliary Point
Radius
Center Point
Control Unit
Speed Limit Value
Acceleration Time
Deceleration Time
Rapid Stop Deceleration Time
Torque Limit Value
Deceleration Processing on Stop Input
Allowable Error Range for Circular Interpolation
S-Curve Ratio
Cancel
Start
Speed Change
ABS-2
Absolute data
INC-2
Incremental
2 ∆ !!! ∆∆ ∆∆∆∆∆∆∆ ∆∆∆OK
! : Must be set
∆ : Set if required
[Control Details]
Control with ABS-2 (absolute data method)
(1) Linear interpolation with 2-axes from the current stop address (X
1
, Y
1
) to the
designated address (X
2
, Y
2
), using the home position as the reference.
(2) The travel direction is determined from the stop addresses and designated
addresses for the respective axes.
Y
1
Y
2
X
1
X
2
Stop address (X
2
, Y
2
)
Positioning speed
Forward direction
X-axis travel value
Reverse direction
Reverse
direction
Y-axis travel value
Forward direction Current stop address (X
1
, Y
1
)
Movement due to X-axis,
Y- axis linear interpolation
: indicates set data
The travel direction is shown below if the current stop address is (1000,
4000), and the designated stop address is (10000, 2000).
Current address
Stop address
(4000- 2000
=
2000)
(10000- 1000
=
9000)
4000
2000
0 1000 5000 10000
Y- axis travel value
X- axis travel value
Fig.7.3 Positioning by Absolute Data Method
Example
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