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

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Linear Interpolation Section 9-7
9-7-4 Linear Interpolation Operation
After the data related to linear interpolation has been set, linear interpolation
operation is started by means of the following two operations.
Executing LINEAR INTERPOLATION SETTING
Turn ON the LINEAR INTERPOLATION SETTING Bit in the Axis 1 (or Axis 5)
Operating Output Memory Area.
When this bit is turned ON, the settings for linear interpolation operation that
have been set in the Axis Operating Output Memory Area for axis 1 (or axis 5)
are obtained, along with the position command values and position speed val-
ues for individual interpolation axes, and preparations will be executed for lin-
ear interpolation operation. Execute LINEAR INTERPOLATION SETTING
when the Linear Interpolation Setting Completed Flag in the Axis Operating
Input Memory Area for axis 1 (or axis 5), and the Busy Flag and Error Flag for
the axes designated by the interpolation axis designation, are reset. If the Lin-
ear Interpolation Setting Completed Flag for axis 1 (or axis 5) is set, or if an
axis designated by the interpolation axis designation is busy (i.e., Busy Flag
ON), or if an error has occurred (i.e., Error Flag ON), the LINEAR INTERPO-
LATION SETTING command will be ignored and will not be executed.
When LINEAR INTERPOLATION SETTING has been successfully com-
pleted, the Linear Interpolation Setting Completed Flag for axis 1 (or axis 5)
will be set.
Note (1) LINEAR INTERPOLATION SETTING is automatically written from the
PCU to the Servo Parameters. When executing LINEAR INTERPOLA-
TION SETTING, do not execute any of the Servo Parameter transfer op-
erations (WRITE, READ, or SAVE).
(2) When LINEAR INTERPOLATION SETTING is executed, the Sec-
ond-step Linear Acceleration Constant for W-series Servo Drives
(Pn80B) or Linear Acceleration Constant for G-series Servo Drives
(Pn107) and Second-step Linear Deceleration Constant for W-series
(Pn80E) or Linear Deceleration Constant for G-series Servo Drives
(Pn10A) parameters in the Servo Parameters are changed. Be careful of
changes to acceleration and deceleration speed settings if interpolation
axes are operated independently (by direct operation, JOG, etc.) after
LINEAR INTERPOLATION SETTING has been executed (regardless of
whether LINEAR INTERPOLATION START has been executed). Change
the
Second-step Linear Acceleration Constant for W-series Servo Drives
(Pn80B) or Linear Acceleration Constant for G-series Servo Drives
(Pn107) and Second-step Linear Deceleration Constant for W-series
(Pn80E) or Linear Deceleration Constant for G-series Servo Drives
(Pn10A) as required, by using a WRITE SERVO PARAMETERS com-
mand.
Executing LINEAR INTERPOLATION START
Turn ON the LINEAR INTERPOLATION START Bit in the Axis 1 (or Axis 5)
Operating Output Memory Area. Linear interpolation operation will start,
based on the settings from when the LINEAR INTERPOLATION SETTING Bit
was turned ON just before. If the LINEAR INTERPOLATION SETTING Bit is
OFF, LINEAR INTERPOLATION START will be disabled.