NOVA electronics Inc.
MCX514 -
110
－
110
－
Be sure to set interpolation speed when interpolation driving is performed, especially in the following cases, it must be set.
•
When interpolation driving is performed after normal driving, and when speed parameters are the same as those in
normal driving.
•
After interpolation driving, when interpolation driving is performed without changing speed and position parameters but
interpolation mode setting is changed.
[Note]
•
The drive speed cannot be changed during interpolation driving.
Set position data
In 2, 3, 4 axes linear interpolation, set the finish point of each axis, and in circular interpolation, set the center and finish points of
a circular arc. In 2, 3, 4 axes bit pattern interpolation, set the bit data in the
＋
/
－
direction of each axis. In bit pattern
interpolation, the user can write 128 bit data to each axis before interpolation driving starts. In helical interpolation, set the center
and finish points of a circular arc and moving distance in the Z and U direction.
[Note]
•
Even though interpolation driving that has the same position data is performed continuously, be sure to set position
data.
Start interpolation driving
After necessary speed and position parameters for interpolation are set, if interpolation driving command is written, interpolation
driving will start. In bit pattern interpolation, the user can infinitely draw an arbitrary drive locus continuously by filling bit data
during interpolation driving.
Wait for termination of interpolation driving
During interpolation driving, n-DRV bits of all axes that perform RR0 (main status register) interpolation become 1. And after
interpolation driving is finished, the bits return to 0.
Error check
During interpolation driving, hardware and software limit error works in each driving axis. When the limit of any axis becomes
active during interpolation driving, the interpolation stops. If stopped by an error, the error bit of the axis designated interpolation
in RR0 (main status register) will become 1. If the bit is 1, the user can identify the cause of the error by reading RR2 (error
register) of the axis.
[Note]
•
In circular, helical and bit pattern interpolation, the hardware or software limit of either
＋
/
－
direction becomes active,
the interpolation may stop. In this case, the user cannot escape from the limit area by circular, helical and bit pattern
interpolation. Please escape it by driving the axis alone.
Clear axis assignment of interpolation
When interpolation driving is finished, be sure to clear the axis assignment of interpolation by using interpolation mode setting
command (2Ah). If normal driving is performed with the axis assignment of interpolation, driving may not be performed correctly.
■
In-position Signal for Servo Motor
During interpolation driving, in case of the in-position signal (nINP0S) of each axis being enabled, nINP0S signals of all axes
become active after interpolation driving is finished, and then the drive bits of all axes that perform RR0 (main status register)
interpolation return to 0.
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Stop of interpolation driving by synchronous action
When interpolation driving is stopped by synchronous action, be sure to write error/finishing status clear command (79h) to the
interpolation axis. The user can check the termination of driving by synchronous action, by using D8 bit of RR2 register.
For more details of synchronous action, see chapter 2.6, and details of RR2 register, see chapter 6.13.
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Interpolation driving after driving stops by nSTOP0, nSTOP1 or nSTOP2 signal
When interpolation driving is performed by using the stopped axis after the driving except nterpolation is stopped by
nSTOP0, nSTOP1 or nSTOP2 signal, be sure to write error/finishing status clear command (79h) to the interpolation axis. The
user can check the termination of driving by RR2 register. For more details of RR2 register, see chapter 6.13.
