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8-3-3 Straight-Line Interpolation to a Single Point (X/Y Axis)
The following program positions to point C [10,000, 10,000 (pulses)] from
point A [10,000,0 (pulses)] via point B [10,000, 5,000 (pulses)]. Positioning
starts at 3 kpps, but drops to 1 kpps at point B. At point B, bit j+1 (14) turns
ON for one scan, and bit j(15) turns ON at point C to indicate completed posi-
tioning.
Y axis (pulse)
0 (origin)
X axis (pulse)
Time (s)
1 kpps
Speed (pps)
C (10,000, 10,000)
X, Y axes
Origin
C
DIFU(13) j+2(01)
WRIT(87)
#0002
DM m+3
n
CMP(20)
l+7
#0030
l+7
CMP(20)
#0021
( = )
( = )
j+2(00)
j+1(15)
Start input
j+2(01)
j+ (03)
l(15)
Command
Ready
j+2(02)
25506
25506
j+1
(15)
j+2
(02)
j+2
(03)
Normally ON
Positioning
Completed
Reads flags
l+10(08)
25313
( = )
25506
j+2
(15)
READ(88)
#0017
n+1
l
Point C
Positioning
Completed
Origin
Point C
Linear interpolation to origin
Ladder Diagram
Basic Program Examples
Section 8-3