Panasonic AFP7MC16EC, User Manual

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Automatic Operation (Position Control)
8-18
8.2.4 Type of Interpolation Control (3-axis Interpolation)
•
The following types and operation specification methods are available for the 3-axis
interpolation.
•
The axes in the relation of an interpolation are called 1st axis, 2nd axis and 3rd axis for the
3-axis interpolation. Also, the 1st, 2nd and 3rd axes are automatically allocated from the
smallest axis number in ascending order.

Type and operation specification method
Type Operation specification method Necessary data
3-axis linear
interpolation
control
Composite speed Composite speed of 1st, 2nd and 3rd axes
Long axis speed
Speed of long axis (Axis of which moving
distance is long)
3-axis spiral
interpolation
control
Center point/CW direction/1st axis movement
Coordinates of 2nd and 3rd axes of center
point
Center point/CCW direction/1st axis movement
Coordinates of 2nd and 3rd axes of center
point
Center point/CW direction/2nd axis movement
Coordinates of 1st and 3rd axes of center
point
Center point/CCW direction/2nd axis movement
Coordinates of 1st and 3rd axes of center
point
Center point/CW direction/3rd axis movement
Coordinates of 1st and 2nd axes of center
point
Center point/CCW direction/3rd axis movement
Coordinates of 1st and 2nd axes of center
point
Pass point/1st axis movement
Coordinates of 2nd and 3rd axes of pass
point on arc
Pass point/2nd axis movement
Coordinates of 1st and 3rd axes of pass
point on arc
Pass point/3rd axis movement
Coordinates of 1st axis and 2nd axis of pass
point on arc

Positioning table and operation characteristics
•
When specifying the long axis speed method, the composite speed is faster than the long
axis speed.
•
In the case of the center point specification, the coordinates of the center point for two axes
which draw an arc is specified as the data of 1st-axis (X-axis) auxiliary point and 2nd-axis
(Y-axis) auxiliary point of positioning data. Also, in the case of the pass point specification,
the coordinate of the pass point on arc is specified as the data of 1st-axis (X-axis) auxiliary
point and 2nd-axis (Y-axis) auxiliary point of positioning data.
•
When the control method is increment, for the both center point and pass point, the
increment coordinate from the start point is specified.
•
When the start point and the operation done point is the same, it performs one circular
operation when using the center point method. However, when using the pass point method,
an error occurs.
•
In case of the pass point method, when the start point, pass point and operation done point
exist in the same straight line, an arc is not comprised, and an error occurs.
•
In each interpolation control, the E-point control which uses one table, P-point control and C-
point control which uses multiple tables can be combined arbitrarily as positioning data. For
the P-point and C-point controls, the last table should be set as an end point.