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9   MAJOR POSITIONING CONTROL 

 

9.2.4 3-axis linear interpolation control 

In "3-axis linear interpolation control" ("

Da.2

Control system" = ABS linear 3, INC 

linear 3), three 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]   3-axis linear interpolation control (ABS linear 3) 

 

 Operation chart 

 

In the absolute system 3-axis linear control, using an address established by a 
machine OPR in the 3-axis coordinate space, a linear interpolation positioning is 
carried out from the current stop position (start point address) to the address (end 
point address) set in the "

Da.6

 Positioning address/movement amount". 

 

End point address (X

2

,Y

2,

Z

2

)

(Positioning address)

Movement by linear interpolation
       of the X axis, Y axis and Z axis

Y axis movement amount

Start point address (X

1

,Y

1

,Z

1

)

   (Current stop position)

Forward direction (X axis)

Forward direction (Z axis)

Reverse direction

Forward direction
(Y axis)

X axis movement amount

Z ax

is m

ovem

ent am

ount

Reverse direction Reverse direction

 

 

End point address
(positioning address)

Axis 2 movement amount (8000-2000=6000)

Start point address
(current stop position)

Axis 1

Axis 3

Axis 2

8000

Axis 3 movement amount
(4000-1000=3000)

4000

2000

1000

1000

0

4000

Axis 1 movement amount
(4000-1000=3000)

Example

When the start point address (current stop positon) is (1000, 2000, 1000) and the end point address
(positioning address) is (4000, 8000, 4000), positioning is carried out as follows.