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

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Linear Interpolation Section 8-6
Now, suppose that the interpolation speed to point A is “a,” and the interpola-
tion speed to point B and below is “b.” Then, when the completion code is con-
tinuous, the interpolation speed and the speeds of the X and Y axes are as
shown below, with the pulses being output suddenly and stopped suddenly.
Reversal in Axis
Operation If an axis with interpolation reverses at the intermediate point when executing
linear interpolation with the completion code set to continuous (completion
code 2), all axes with interpolation will temporarily stop at the intermediate
points. When reversing the operation direction of an axis, the same period of
time will be taken for other axes with interpolation.
Acceleration/Deceleration will not occur for a temporary stop at intermediate
points. When this operation is executed, therefore, set the completion code to
automatic (completion code 1).
The following example shows the linear interpolation of the X and Y axes
starting at the X axis. At point “A” the direction of movement at the Y axis is
reversed.
Interpolation
speed (pps)
Completion
code:
continuous
Completion
code:
continuous
Point A Point B
Time
X axis speed
(pps)
Sudden output of pulses
Pulse output stops
Time
Y axis speed
(pps)
Time
Sudden output of pulses
Pulse output stops
Y axis
X axis
Origin
A
B
b
a
θ
1
θ
2