Omron CJ1W-NC271 - 12-2009, Operation Manual

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361
Linear Interpolation
Section 9-7
Settings for Interpolation Axis Operations: Axis Operating Output
Memory Areas for Axes Designated by Interpolation Axis Designation
a = Beginning word of Axis Operating Output Areas specified in Common
Para (Axis No.
−
1)
×
25
The G5-series Servo Drives and G-series Servo Drives do not support expo-
nential curve designation filters. When using a G-series Servo Drive, do not
attempt to use an exponential curve designation filter.
The SMARTSTEP Junior Servo Drives do not support acceleration/decelera-
tion filters and torque limits. When using a SMARTSTEP Junior Servo Drive,
do not attempt to use an acceleration/deceleration curve designation or for-
ward/reverse torque limit designation.
Note (1) For interpolation acceleration and deceleration time settings, the upper
and lower limits for axis acceleration and deceleration speeds are restrict-
ed to a range of 1 to 65,535 [
×
10,000 command units/s
2
]. If the acceler-
ation or deceleration speeds calculated from the linear interpolation
operation settings for an interpolation axis are extremely low or high, the
linear interpolation following may not be correct.
(2) The interpolation acceleration time and interpolation deceleration time
are set by converting to the units [
×
10,000 command unit/s2] of the Sec-
ond-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
Name Word Bits Contents G Series W Series SMART-
STEP
Junior
Position Command Value a+2
a+3
--- Position command value (rightmost word)
Position command value (leftmost word)
Unit: Command unit
Command range:
−
2,147,483,648 to
2,147,483,647 (80000000 hex to
7FFFFFFF hex)
The command value is limited by the
allowable positioning range.
(For details, refer to
9-4-1 Starting Direct
Operation .)
Supported Supported Supported
Speed Command Value
(for Position Control) a+4
a+5
--- Speed command value (rightmost word)
Speed command value (leftmost word)
Unit: Command units/s
Command range: 0 to 2,147,483,647
(00000000 hex to 7FFFFFFF hex)
For details on speeds for interpolation
operations, refer to
Linear Interpolation
Operation Speeds on page 366.
Supported Supported Supported
Accelera-
tion/decel-
eration
curve des-
ignation Exponen-
tial curve
designation a+16 03 1:
Use exponential acceleration/decelera-
tion curve.
Not sup-
ported Supported Not sup-
ported
S-curve
designation 04 1: Use S-curve acceleration/deceleration
curve.
Supported Supported Not sup-
ported
Forward rotation current
limit 14 1: Use forward torque limit. Supported Supported Not sup-
ported
Reverse rotation current
limit 15 1: Use reverse torque limit. Supported Supported Not sup-
ported