4. PARAMETERS FOR POSITIONING CONTROL
4
−
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As shown below, the S-curve ratio setting serves to select the part of the sine curve
to be used as the acceleration and deceleration curve.
V
t
Positioning
speed
(Example)
A
B
B/2
B/2
Sine curve
S curve ratio = B/A
×
100%
V
t
Positioning
speed
When the S curve ratio is 70%
B/A
0.7
A
B
B
A
B/A
1.0
When the S curve ratio is 100%
4.4.3
Allowable error range for circular interpolation
In control with the center point designated, the locus of the arc calculated from the
start point address and center point address may not coincide with the set end
point address.
The allowable error range for circular interpolation sets the allowable range for the
error between the locus of the arc determined by calculation and the end point
address.
If the error is within the allowable range, circular interpolation to the set end point
address is executed while also executing error compensation by means of spiral
interpolation.
If the setting range is exceeded, an error occurs and positioning does not start.
When such an error occurs, the relevant axis is set in the minor error code area.
Locus determined by spiral
interpolation
Start point address
Center point address
Error
End address determined
by calculation
Set end address
Fig. 4.7 Spiral Interpolation
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