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8-7. Executing Interpolation Drive
For the interpolation drive, basic acceleration/deceleration pulses are interpolated and calculated
to output interpolation pulses from individual axes.
Basic acceleration/deceleration pulses are
generated by the drive parameters that are set for the main axis (X or Z axis).
A slow stop command
or immediate stop command is valid regardless of the X and Y (or Z and A) axis from which it is
generated.
・ When a slow stop command is detected, basic acceleration/deceleration pulses are slowed down and
stopped to end the interpolation drive.
・ When an immediate stop command is detected, interpolation pulse output is immediately stopped to end
the interpolation drive.
◆ If the DEWD or DWST signal is set for <servo support>, interpolation drive ends after <servo
support> of both axes ends.
◆ EWD PCLSE drive is also valid for the 2-axis linear interpolation drive.
The basic acceleration/deceleration pulses for the interpolation drive perform the EWD PCLSE drive.
◆ For the 2-axis circular interpolation drive, the EWD PCLSE drive is enabled if the end-point
correction drive is not performed.
By default the execution of interpolation drive is enabled (EWD PCLSE drive is disabled).
◆ The SCFT LIMIT function is also valid for the interpolation drive.
When the SCFT LIMIT address is detected, that slows down and stops at the SCFT LIMIT address of the
axis where it was detected, and ends the interpolation drive.
(1) 2-axis linear interpolation drive
2-axis linear interpolation drive, and 2-axis linear interpolation drive under linear speed constant c
ontrol can be performed.
Linear interpolation is performed toward the specified coordinates from the current coordinates.
Positional errors for the specified straight line are ± 0.5LSB.
The absolute and relative addresses that can be specified for coordinates range from -2,147,483,647 to
+2,147,483,647 (32 bits).
As with IWDEX drive, asymmetrical acceleration/deceleration drive can be used for positioning.
Linear interpolation drive execution sequence
■
Set parameters
for the X axis
① Set necessary parameters required for acceleration/deceleration drive for
(main axis)
drive function
the main axis (X or Z axis).
、
Execute X axis
② Execute main axis (X or Z axis) drive.
(main axis)
drive
Do this operation when the initial value or the parameter value that
has been set needs to be changed.
Locus of linear interpolation drive (example of long axis 20 and short axis 9)
■
9
Short
axis
5
Long axis
0
5
10
15
20
The locus of linear interpolation drive runs along the straight line between the current location and
destination.
When the EWD PCLSE drive is set so that it moves in the direction opposite to the start direction, the
system passes the destination by the EWD PCLSE and stops, and then returns on the same locus as that
it passed when it went, until it stops at the destination.
◆ Long axis and short axis of linear interpolation:
The axis involving more interpolation pulses is
the long axis, and the one involving fewer interpolation pulses is the short axis.
◆ The 2-axis linear interpolation drive requires parameters to be set for X axis (main axis) linear
acceleration/deceleration or S-curve acceleration/deceleration drive.