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

Page: 369 / 644

342
Linear Interpolation Section 9-7
(3) When executing linear interpolation with an S-curve, set in advance the
same Movement Average Time for W-series Servo Drives (Pn812) and
Moving Average Time for G-series Servo Drives (Pn10E) for all designat-
ed linear interpolation axes, and designate S-curve interpolation for all
the interpolation axes when starting linear interpolation operation. If dif-
ferent movement average times are set for interpolation axes, and the
S-curve designation does not match, operation will not be possible using
the linear interpolation following.
(4) With linear interpolation operations, an exponential curve cannot be des-
ignated. In the acceleration/deceleration curve designation, the designa-
tion of an exponential curve will be disabled.
Axis Operating Input
Memory Areas
(Monitoring) Linear Interpolation Operation Status: Axis 1, Axis 5 Operating Input
Memory Areas
b = Beginning word of Axis Operating Input Areas specified in Common
Para (Axis No.
−
1)
×
25
Interpolation Axis Operation Status: Axis Operating Input Memory Areas
for Axes Designated by Interpolation Axis Designation
b = Beginning word of Axis Operating Input Areas specified in Common
Para (Axis No.
−
1)
×
25
When a linear interpolation operation command (LINEAR INTERPOLATION
SETTING or LINEAR INTERPOLATION START) is executed, the linear inter-
polation operation status can be checked in the Axis Operating Input Memory
Area of the axis (Axis 1 or Axis 5) for which the command was executed. The
operation status of axes designated by linear interpolation designation can be
checked in the Axis Operating Input Memory Areas for individual interpolation
axes.
Name Word Bits Contents
Linear Interpolation
Setting Completed
Flag b+24 00 0: Linear interpolation setting command reception enabled.
0 to 1: Linear interpolation setting completed.
1: Linear interpolation setting completed
(setting command reception disabled).
Linear Interpolation
Executing Flag 13 1: Linear interpolation operation executing
Name Word Bits Contents
Receiving Com-
mand Flag b 00 0: Command reception enabled.
0 to 1: Command reception started.
1: Receiving command (command reception disabled).
PCU Positioning
Completed Flag 05 0 to 1: Positioning is completed.
No Origin Flag 06 0: Origin established. 1: No origin established.
Error Flag 12 0: No axis error. 1: Axis error has occurred.
Busy Flag 13 1: Axis busy (axis operation executing)
Feedback Present
Position b+6
b+7
--- Present position:
Feedback present position (rightmost word)
Feedback present position (leftmost word)
Command Present
Position b+8
b+9
--- Present position:
Command position (rightmost word)
Command position (leftmost word)