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345
Linear Interpolation
Section 9-7
7.
After the above settings have been completed, turning ON the LINEAR IN-
TERPOLATION START Bit (word a, bit 01) while the LINEAR INTERPO-
LATION SETTING Bit (word a, bit 00) is still ON will start positioning for the
designated axes, to the position designated in the interpolation position
designation.
during the linear interpolation operation, the Linear Interpolation Executing
Flag (word b+24, bit 13) will turn ON. When executing a linear interpolation
operation, leave the LINEAR INTERPOLATION SETTING Bit and the LIN-
EAR INTERPOLATION START Bit ON until the Linear Interpolation Exe-
cuting Flag turns ON.
Timing Charts
• When LINEAR INTERPOLATION START is Executed After Linear Inter-
polation Settings are Completed
If the LINEAR INTERPOLATION SETTING Bit turns OFF before LINEAR
INTERPOLATION START is executed, LINEAR INTERPOLATION START
is disabled.
• When LINEAR INTERPOLATION SETTING and LINEAR INTERPOLA-
TION START are Executed Simultaneously
If the LINEAR INTERPOLATION SETTING and LINEAR INTERPOLA-
TION START Bits are turned ON simultaneously, the linear interpolation
operation is started after the linear interpolation settings are completed.
Note
(1) The same LINEAR INTERPOLATION START cannot be executed again
with a new command while linear interpolation operation is in progress
(i.e., while the Linear Interpolation Executing Flag is ON). If it is executed
again, it is disabled. It is possible, however, to start an independent linear
interpolation for a combination of axes 1 to 4, or of axes 5 to 8, while an
operation involving the other combination is already in progress.
(2) While a linear interpolation operation is in progress, do not make changes
to the speed command value for any axis involved in that operation (i.e.,
for any axis designated in the interpolation axis designation). If a speed
command value is changed during operation, the operation will not be ex-
ecuted correctly.
LINEAR INTERPOLATION
SETTING (a 00)
LINEAR INTERPOLATION
START (a 01)
Linear Interpolation Setting
Completed Flag (b+24 00)
Linear Interpolation
Executing Flag (b+24 13)
a = Beginning Word of Axis 1 (Axis 5) Operating Output Memory Areas
b = Beginning Word of Axis 1 (Axis 5) Operating Input Memory Areas
Make sure that LINEAR INTERPOLATION
SETTING and LINEAR INTERPOLATION START
remain ON until the Linear Interpolation
Executing Flag turns ON.
The Linear Interpolation Setting Completed Flag
turns ON until LINEAR INTERPOLATION
SETTING turns OFF or errors occur on the axes
specified in the Interpolation axis designation.
The Linear Interpolation Executing Flag turns ON
until the interpolation operation has completed or
LINEAR INTERPOLATION START turns OFF.
LINEAR INTERPOLATION
SETTING (a 00)
LINEAR INTERPOLATION
START (a 01)
Linear Interpolation Setting
Completed Flag (b+24 00)
Linear Interpolation
Executing Flag (b+24 13)
a = Beginning Word of Axis 1 (Axis 5) Operating Output Memory Areas
b = Beginning Word of Axis 1 (Axis 5) Operating Input Memory Areas
Make sure that LINEAR INTERPOLATION
SETTING and LINEAR INTERPOLATION
START remain ON until the Linear Interpolation
Executing Flag turns ON.
The Linear Interpolation Setting Completed Flag
turns ON until LINEAR INTERPOLATION
SETTING turns OFF or errors occur on the axes
specified in the interpolation axis designation.
The Linear Interpolation Executing Flag turns ON
until the interpolation operation has completed or
LINEAR INTERPOLATION START turns OFF.
Summary of Contents for CJ1W-MA - REV 10-2008
Page 3: ...iv ...
Page 5: ...vi ...
Page 21: ...xxii ...
Page 57: ...30 Starting Operation Section 2 2 ...
Page 97: ...70 Wiring Section 3 4 ...
Page 247: ...220 Transferring Servo Parameters Section 5 3 ...
Page 281: ...254 Standard Settings for Servo Drives Using MECHATROLINK Section 6 4 ...
Page 343: ...316 Absolute Encoder Origin Section 8 6 ...
Page 375: ...348 Linear Interpolation Section 9 7 ...
Page 423: ...396 DEVIATION COUNTER RESET Section 10 10 ...
Page 631: ...604 Additional Functions for the CJ1W NCF71 MA Appendix F ...
Page 641: ...614 Index ...
Page 643: ...616 Revision History ...