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Linear Interpolation
Section 9-7
Example: Linear Interpolation for 2-axis (Axis 1 and Axis 2) Operation
Note
In the linear interpolation function of the Position Control Unit, the acceleration
and deceleration operations for each axis based on the interpolation accelera-
tion time and interpolation deceleration time that were set are performed by
using the
Second-step Linear Acceleration Constant
for W-series Servo
Drives (Pn80B),
Linear Acceleration Constant
for G-series Servo Drives
(Pn107) or
Linear Acceleration Constant
for G5-series Servo Drives (Pn811)
and
Second-step Linear Deceleration Constant
for W-series Servo Drives
(Pn80E),
Linear Deceleration Constant
for G-series Servo Drives (Pn10A), or
Linear Deceleration Constant
for G5-series Servo Drives (Pn814).
The setting unit for the Second-step Linear Acceleration Constant and Sec-
ond-step Linear Deceleration Constant is 10,000 command units/s
2
. In opera-
tion, the actual acceleration and deceleration times are thus affected by the
precision of the command unit.
9-7-2
Linear Interpolation Operation Procedure
Just as with direct operation (absolute and relative movement commands), lin-
ear interpolation is executed by setting operation commands in the Axis Oper-
ating Output Memory Area.
Common commands for linear interpolation operations, such as designation
of interpolation axis combinations, interpolation speeds, and interpolation
acceleration and deceleration times, are set in the Axis Operating Output
Memory Area for axis 1 or axis 5, and position and speed command values for
individual linear interpolation axes are set in the Axis Operating Output Mem-
ory Area for those particular axes. Then linear interpolation operations are
started by using the LINEAR INTERPOLATION SETTING and LINEAR
INTERPOLATION START Bits.
The following procedure describes the steps related to starting linear interpo-
lation operations, from servolock onwards.
Axis 2
Axis 1
Start Point
Interpolation end point
Interpolation speed
Axis 1 Speed
Axis 2 speed
Speed
Time
Interpolation acceleration time
Interpolation speed
Axis 1 speed
Axis 2 speed
Axis 2 target position
Interpolation deceleration time
Axis 1 target
position
Summary of Contents for CJ1W-NC271 - 12-2009
Page 2: ......
Page 4: ...iv ...
Page 6: ...vi ...
Page 22: ...xxii ...
Page 58: ...30 Starting Operation Section 2 2 ...
Page 244: ...216 Axis Operating Input Memory Areas Section 4 8 ...
Page 264: ...236 Transferring Servo Parameters Section 5 3 ...
Page 396: ...368 Linear Interpolation Section 9 7 ...
Page 648: ...620 List of Error Codes Appendix D ...
Page 674: ...646 Additional Functions for the CJ1W NCF71 MA Appendix F ...
Page 684: ...656 Index ...
Page 686: ...658 Revision History ...