6. Interpolation Functions
6.1 Positioning (Rapid Traverse)
36
(Note 4)
Rapid traverse (G00) deceleration check
There are two methods for the deceleration check at rapid traverse; commanded deceleration
method and in-position check method. Select a method with the parameter "#1193 inpos".
■
When "inpos" = "1"
Upon completion of the rapid traverse (G00), the next block will be executed after confirming that
the remaining distances for each axis are below the fixed amounts. (Refer to following drawing.)
The confirmation of the remaining distance should be done with the imposition width, L
R
. L
R
is the
setting value for the servo parameter "#2224 SV 024".
The purpose of checking the rapid feedrate is to minimize the time it takes for positioning. The
bigger the setting value for the servo parameter "#2224 SV024", the longer the reduced time is, but
the remaining distance of the previous block at the starting time of the next block also becomes
larger, and this could become an obstacle in the actual processing work. The check for the
remaining distance is done at set intervals. Accordingly, it may not be possible to get the actual
amount of time reduction for positioning with the setting value SV 024.
■
When "inpos" = "0"
Upon completion of the rapid traverse (G00), the next block will be executed after the deceleration
check time (Td) has elapsed. The deceleration check time (Td) is as follows, depending on the
acceleration/deceleration type.
(1) Linear acceleration/linear deceleration........................................ Td = Ts +
α
Ts
Td
Previous block
Next block
Ts : Acceleration/deceleration
time constant
Td : Deceleration check time
Td = Ts + (0 ~ 14ms)
(2) Exponential acceleration/linear deceleration ............................... Td = 2 × Ts +
α
2 × Ts
Td
Ts
Previous block
Next block
Ts : Acceleration/deceleration
time constant
Td : Deceleration check time
Td = 2
×
Ts + (0 ~ 14ms)