Omron NJ501-1300, User Manual

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9 Motion Control Functions
9-48
NJ-series CPU Unit Motion Control User’s Manual (W507)
Linear interpolation is used to move 2 to 4 of the logical axes A0 to A3 in a straight line between a start
point and an end point. Either absolute or relative positioning is possible. You can specify the interpola-
tion velocity, interpolation acceleration, interpolation deceleration, and jerk.
The MC Function Modules uses the following three kinds of linear interpolation instructions.
• MC_MoveLinear (Linear Interpolation)
You can specify the
MoveMode input variable to select between linear interpolation to an absolute
value or linear interpolation to a relative value. This instruction is unique to the MC Function Module.
• MC_MoveLinearAbsolute (Absolute Linear Interpolation)
This instruction performs linear interpolation to an absolute value. This instruction is defined in the
PLCopen technical specifications.
• MC_MoveLinearRelative (Relative Linear Interpolation)
This instruction performs linear interpolation to a relative value. This instruction is defined in the
PLCopen technical specifications.
The following figure shows linear interpolation of 2 axes from point A to point B.
For details on linear interpolation, refer to the MC_MoveLinear (Linear Interpolation),
MC_MoveLinearAbsolute (Absolute Linear Interpolation), and MC_MoveLinearRelative (Relative Linear
Interpolation) instructions in the
NJ-series Motion Control Instructions Reference Manual (Cat. No.
W508).
9-6-2 Linear Interpolation
X
Td
Ta
A
F
B
Y
Ta
Fa0
Fa1
Td
La0
L
La1
Axis A0 motion
Axis A1 motion