Omron SYSMAC CP Series, User Manual

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12-27
12 Pulse Outputs
CP2E CPU Unit Software User’s Manual(W614)
12-5 P
o
sitio
n
in
g L
inear In
terpo
latio
n
12
12
-5-2
P
ositioning Lin
ear Inter
polation
Configur
ation
The target frequency, starting frequency, acceleration and deceleration rate, the number of output
pulses are set beforehand, and linear interpolation positioning control is performed by executing the
instruction.
The following example shows the two-axis linear interpolation.
• The target frequency and starting frequency set the frequency of linear interpolation positioning. The
frequency and travel distance of each axis are automatically set internally.
• The stop during linear interpolation can be immediate stop or deceleration stop.
In the case of a deceleration stop, it stops on a linear interpolation line. Please execute the linear
interpolation instruction again to restart.
Precautions for Correct Use Precautions for Correct Use
The linear interpolation positioning can not be performed with the origin undefined. Please spec-
ify them when the origin is defined by performing the origin searches.
If the output speed is less than 125 Hz, pulse output cannot be performed because the number
of pulse per cycle is less than one pulse. As a result, the pulse duty factor may not be 50%.
12-5-2 Positioning Linear Interpolation Configuration
S t a rt u p po s ition
Port 1 po s ition
T a rget po s ition
( S +6, S +8)
Port 0 po s ition
Time
Time
Time
Port 0 fre qu ency
Port 1 fre qu ency
T a rget fre qu ency
( S +2)
Deceler a tion r a te( S +1)
Acceler a tion r a te( S )
Port 0 a mo u nt of movement
Port 1 a mo u nt of movement
S t a rt u p fre qu ency
( S +4)
Fre qu ency on the line