Omron CJ1W-C113 - REV 02-2008, Operation Manual

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Linear Interpolation Section 8-6
8-6-2 Using Continuous Completion with Linear Interpolation
When an axis is started with linear interpolation with the completion code set
to continuous (completion code 2), the following points need to be observed.
Axis Designation
Precautions When executing linear interpolation with the completion code set to continu-
ous (completion code 2), the axis designation must match the following
sequence.
If a positioning sequence different from the designated axis is executed con-
tinuously (completion code 2), it is possible that all axes with interpolation will
temporarily stop at an intermediate point. The stop period will be approxi-
mately 8 ms. There will be no acceleration/deceleration when there is a tem-
porary stop at the intermediate point.
Example:
When Using a Stepping
Motor When using a stepping motor for continuous linear interpolation, use the auto-
matic completion code (completion code 1). Interpolation is started with the
target speed and acceleration/deceleration time of the active axis, so the
pulses may suddenly become high or stop suddenly if the continuous comple-
tion code (completion code 2) is used. As a result, the motor may not be able
to follow the variations in the pulses and may malfunction.
For example, suppose that a two-axis (axes X and Y) linear interpolation oper-
ation has been executed by starting the X axis. The movement on the Y axis
from point A to point B will be 0.
Sequence No. n Sequence No. n + 1 Sequence No. n + 2
Axis: X/Z Axis: X/Y/Z Axis: X/Y/Z
Completion code: Completion code: Completion code:
Continuous Continuous Continuous
Continuous operation is possible Possible temporary stop
Y axis (pulses)
X axis (pulses)
Positioning path