Omron CJ1W-MA - REV 10-2008, Operation Manual

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Linear Interpolation Section 9-7
The speeds for individual axes in linear interpolation are determined by the
following equations. (The same equations are used for 2-axis or 3-axis linear
interpolation.)
Example: Linear Interpolation for 4-axis (Axis 1 to Axis 4) Operation
Axis 1 speed = Interpolation speed
×
Movement of Axis 1 / Total movement
Axis 2 speed = Interpolation speed
×
Movement of Axis 2 / Total movement
Axis 3 speed = Interpolation speed
×
Movement of Axis 3 / Total movement
Axis 4 speed = Interpolation speed
×
Movement of Axis 4 / Total movement
If speeds set using speed command values for individual interpolation axes
are exceeded when interpolation speed command values are resolved into
individual axis speeds by the above equations, those speeds are automati-
cally lowered so that each axis involved in linear interpolation is moved at the
set speed command value.
Axis Operating Output Memory Area
Servo Drive (Axis No.)
#2
MECHATROLINK-II
#3
#4
#5
#6
#7
#8
#1
Axis 1 Operating Output
Axis 5 Operating Output
CPU Unit PCU
Linear interpolation
operations are possible
using any combination
of axes 1 to 4.
Linear interpolation
operations are possible
using any combination
of axes 5 to 8.
(Movement of Axis 1) 2
+ (Movement of Axis 2)
2
+ (Movement of Axis 3)
2
+ (Movement of Axis 4)
2 Total movement =