Mitsubishi Electric MELSEC iQ-R Series User Manual page 227

Motion module

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■3-axis linear interpolation control (relative value)

3-axis linear interpolation is executed by the movement amount set to Distance from the current position at start (start

The movement direction is determined by a sign (+/-) of the movement amount.

• When the movement direction is positive: Positioning to the positive direction (address increasing direction)

• When the movement direction is negative: Positioning to the negative direction (address decreasing direction)

Positive direction

Negative direction

The control is as shown below for the following conditions.

LinearAxes: [1 2 3 0 0 0 0 0 0 0 0 0 0 0 0 0]

The current stop address: [2000 1000 2000 0 0 0 0 0 0 0 0 0 0 0 0 0]

Distance: [10000 5000 6000 0 0 0 0 0 0 0 0 0 0 0 0 0]

LinearAxes: [1 2 3]

The current stop address: [2000 1000 2000]

Distance: [10000 5000 6000]

Movement by linear interpolation

positioning of the X axis, Y axis and Z axis

Start point address (X

(current stop position)

Negative direction

Stop address after the positioning control

Start point address

(current stop position)

Axis 1 movement amount (10000)

Positive direction

Axis 2 movement amount

6 AXIS CONTROL FUNCTION

6.4 Multiple Axes Positioning Control

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