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

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Additional Functions for the CJ1W-NCF71-MA
Appendix F
If a value outside the range is set, the system will treat it as if 0 was selected (i.e., deceleration stop). The inter-
polation axis stop mode setting is enabled when the LINEAR INTERPPOLATION START Bit turns ON.
Example:
If the beginning word of the Axis Operating Output Memory Areas is set to CIO 4000, the interpolation stop
mode for linear interpolation of a combination of axes 1 to 4 will be set in a+21 (CIO 4046) of the Operating
Output Memory Area of axis 2.
The first word of the Operating Output Memory Area of axis 2 is calculated as follows:
a = 4000 + (2
−
1)
×
25 = CIO 4025
In this case, the following settings will be used for the interpolation axis stop mode of each axis from 1 to 4.
Axis 1 interpolation axis stop mode: CIO 4046.00 to CIO 4046.03
Axis 2 interpolation axis stop mode: CIO 4046.04 to CIO 4046.07
Axis 3 interpolation axis stop mode: CIO 4046.08 to CIO 4046.11
Axis 4 interpolation axis stop mode: CIO 4046.12 to CIO 4046.15
In the same way, the interpolation stop mode for linear interpolation of a combination of axes 5 to 8 will be set
in a+21 (CIO 4146) of the Operating Output Memory Area of axis 6.
The first word of the Operating Output Memory Area of axis 6 is calculated as follows:
a = 4000 + (6
−
1)
×
25 = CIO 4125
The following settings will be used for the interpolation axis stop mode of each axis.
Axis 5 interpolation axis stop mode: CIO 4146.00 to CIO 4146.03
Axis 6 interpolation axis stop mode: CIO 4146.04 to CIO 4146.07
Axis 7 interpolation axis stop mode: CIO 4146.08 to CIO 4146.11
Axis 8 interpolation axis stop mode: CIO 4146.12 to CIO 4146.15
Allowed Interaxial Deviation Setting for Linear Interpolation
If the deviation in feedback present positions between axes 1 and 2 or axes 5 and 6 exceeds the allowed devi-
ation that is set in the parameters for each axis, both axes 1 and 2 or both axes 5 and 6 will be decelerated to a
stop. It is thus possible to automatically stop axis operation in response to deviation that occurs, for example,
because of an error for one of the axes, when bilateral operation is performed with two axes.
The allowed deviation between axes is specified in the Axis Operating Output Memory Area of axis 2 for linear
interpolation operation using combinations of axes 1 to 4 and in Axis Operating Output Memory Area of axis 6
for linear interpolation operation using combinations of axes 5 to 8.
Axis Operating Output Memory Areas for Axis 2 and Axis 6
a = Beginning word of Axis Operating Output Memory Areas in Common Para (Axis No.
−
1)
×
25
Name Word Bits Contents
Allowed Interaxial
Deviation a+23
a+24
(Axis Operating Output Mem-
ory Area for Axis 2) --- Allowed deviation between axes 1 and 2 (a+23: lower
word, a+24: upper word)
Unit: Command unit
Setting range: 0 to 2,147,483,647
The allowed deviation between axes 1 and 2 in linear
interpolation for a combination of axes 1 to 4 will be set
in 32-bit signed hexadecimal. The allowed deviation
between axes 1 and 2 will not be detected if the setting
is 0 (default) or a negative value.
a+23
a+24
(Axis Operating Output Mem-
ory Area for Axis 6) --- Allowed deviation between axes 5 and 6 (a+23: lower
word, a+24: upper word)
Unit: Command unit
Setting range: 0 to 2,147,483,647
The allowed deviation between axes 5 and 6 in linear
interpolation for a combination of axes 5 to 8 will be set
in 32-bit signed hexadecimal. The allowed deviation
between axes 5 and 6 will not be detected if the setting
is 0 (default) or a negative value.