NPM PCL6113, User Manual

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9-6. Linear interpolation operation
9-6-1.Outline of interpolation operation
Using one or more PCLs, you can operate linear interpolation feed.
MOD Operation mode
62h Continuous linear interpolation
63h Linear interpolation
Just like in the linear interpolation mode, in continuous linear interpolation the PCL feeds multiple axes at a
specified rate. However, PCL operations can still be started and stopped with commands, the same as in
linear interpolation.
With the linear interpolation, the PCL automatically stops after the specified feed amount.
The linear interpolation circuit in this PCL interpolates between a dummy axis associated with each axis
and the actual axis.
By entering maximum feed amount data for each and every dummy axis, the PCLs will execute an indirect
linear interpolation between the axes.
As each interpolated axis operates independently, the start timing, deceleration timing, and error stop
timing must be matched between the axes.
When you want to use multiple PCLs and have them interpolate for each other, connect CSD, CSTA, and
CSTP terminals on each PCL to each other and provide a pull up resistor (5 k to 10 k-ohms) on VDD (3.3v)
for each signal line.
Even when performing interpolation within a single PCL, a pull up resistor is required.
9-6-2. Interpolation procedures
1) Enter a feed amount with a sign in the PRMV register for each axis. The sign specifies the feed direction.
2) Enter the absolute value of the PRMV (from the axis with the largest feed amount) in the PRIP registers
of all the axes that will perform an interpolation.
3) Specify the speed pattern (PRFL, PRFH, PRUR, PRMG, PRDP, PRDR, PRUS, PRDS) that will be used
for the axis with the maximum feed amount for all the axes that will perform an interpolation.
When you want to specify a synthesized speed, obtain the speed factor for the axis with the maximum
feed amount by calculation from the CPU. Then, enter this speed for all the axes that will perform an
interpolation.
4) If any of the axes performing an interpolation stops due to an error, and if you want to stop all the other
axes performing an interpolation, set the MSPE and MSP0 bits in the PRMD register on those axes to 1.
5) When you want to interpolate using acceleration/deceleration, set the MCDE and MSD0 bits in the
PRMD register to 1 for all the axes that will perform an interpolation.
6) When you want to perform an interpolation using only one PCL, specify the axis to interpolate in the
upper byte (COMB1) when writing the start command.
When you want to perform an interpolation using multiple PCLs, set the MSY0 and 1 bits in the PRMD
register to 01, on all the axes that will perform an interpolation. Then write a postponed start command
(waiting for a CSTA input).