NOVA electronics Inc. MCX514 -
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3.7.3 Errors during Continuous Interpolation
There are 2 types of errors occurred during continuous interpolation: the error such as limit over run, and the writing error of
interpolation data.
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Error such as limit over run
When an error occurs such as limit over run during continuous interpolation, driving stops at the current interpolation segment. If
stopped by an error, the stack counter of pre-buffer becomes 0, and the segment data after the data already written and
interpolation command will be all disabled. It cannot proceed after clearing the error.
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Data writing error
The writing error of interpolation data is occurred when it failed to set the data of next segment after the current interpolation
segment.
In continuous interpolation, when the writing of the next segment data before the falling edge (positive logic) of the last pulse of
interpolation driving in the last segment, and interpolation driving command are completed, there is no problem. While driving
this segment after the falling edge of the last pulse, if interpolation driving command for next segment is written, the data cannot
be handled. At this time, the segment will not be executed and the stack counter of pre-buffer will not be counted. D7 bit
(interpolation error) of the main axis RR2 register becomes 1 and interpolation driving is terminated by the error. This error can be
cleared by issuing error/finishing status clear command (79h) to all the interpolation axes.
3.7.4 Attention for Continuous Interpolation
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Set the necessary data such as finish point for each interpolation segment first, and then set interpolation driving
command. Otherwise, it does not work properly.
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The maximum drive speed is 4MPPS (when in CLK=16MHz) in continuous interpolation.
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The time to drive all the interpolation segments should be longer than that for error checking and the data and
command setting of next segment. The next interpolation segment must be loaded before the current interpolation
segment is finished. When the current interpolation segment is finished before loading, and if driving command of
next interpolation segment is written, it stops and then performs continuous interpolation. However, when the writing
error of interpolation data (interpolation error) occurs, continuous interpolation is terminated.
•
In continuous interpolation, the user cannot set the data that does not output pulses such as the finish points of all axes
for linear interpolation or the center points of both axes for circular interpolation are 0. If set, interpolation cannot be
performed appropriately.
•
When circular interpolation is included in continuous interpolation, circular interpolation may have ±1LSB error of
the short axis value of finish point from true value. Be sure to make continuous interpolation not to accumulate errors
of each segment, checking each circular finish point. It is impossible to perform the different axis number of
continuous interpolation like from 3-axis to 2-axis.
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Interpolation axis cannot be changed during continuous interpolation.
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When driving is stopped by an error, be sure to check the error type, and clear the error by issuing error/finishing
status clear command (79h). Interpolation driving cannot be performed unless the error is cleared.
•
When driving is stopped by stop command during continuous interpolation, the segment data set in pre-buffer will be
all disabled.
•
Bit pattern interpolation and helical interpolation cannot be configured together with other interpolation in continuous
interpolation driving.
•
The drive speed cannot be changed during continuous interpolation driving. (If the user needs to change the drive
speed during continuous interpolation driving, please contact us.)
