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

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Linear Interpolation Section 9-7
Once the above settings have been made, then execute linear interpolation
operations by using the following two bits allocated in the Axis Operating Out-
put Memory Area for axis 1 or axis 5.
•
LINEAR INTERPOLATION SETTING
•
LINEAR INTERPOLATION START
Example: Linear Interpolation for 4-axis (Axis 1 to Axis 4) Operation
Note (1) When executing interpolation operations using a combination of axes 5 to
8, the interpolation axis designation and interpolation position designa-
tion are made for axes 5 to 8 respectively in the Axis 5 Operating Output
Memory Area, in bits 04 to 07 in the corresponding words in the above
diagram.
(2)
Set the acceleration/deceleration curve designation (the S-curve desig-
nation) and the forward/reverse torque designation for each designated
interpolation axis.
Common Parameter Area MECHATROLINK Communications Settings
Servo Parameter Area Acceleration/Deceleration Constants
+0
00 LINEAR INTERPOLATION SETTING
01 LINEAR INTERPOLATION START
+2
+3
+4
+5
+10
Option command value 1
Linear interpolation acceleration time
+11
Not used
+12
Option command value 2
+13
Not used
15 Reverse rotation current limit
14 Forward rotation current limit
04 15 14 04 15 14 04
+16
04 S-curve designation 03 Axis 4
02 Axis 3
01 Axis 2
00 Axis 1
+21
Interpolation axis designation
+22 Interpolation position designation
+23
+24
Axis 1 Operating Output Axis 2 Operating Output Axis 3 Operating Output Axis 4 Operating Output
Axis 1 Position command
value Axis 4 Position command
value Axis 3 Position command
value Axis 2 Position command
value
Axis 1 Speed command
value (for position control) Axis 4 Speed command
value (for position control) Axis 3 Speed command
value (for position control) Axis 2 Speed command
value (for position control)
Linear interpolation deceleration time
Interpolation Speed
command value
PCU's address Contents Setting
Bits 08 to 15 Bits 00 to 07
1856 hex Transfer cycle Communica-
tions cycle Set the communications cycle to a value one greater than the min-
imum communications cycle value determined by the number of
connected devices. (Refer to
6-2-3 MECHATROLINK Communica-
tions Settings .)
Type Parameter
No.
Parameter name Unit Setting range Parameter
size
Default
setting
Accelera-
tion/deceler-
ation
constants Pn80C Acceleration constant
switching speed 100 command
units/s Must be set to 0. 2 0
Pn80F Deceleration constant
switching speed 100 command
units/s Must be set to 0. 2 0