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Copyright 2018, SIGMAKOKI Co.,Ltd.
4-1-6 K command
(Linear interpolation movement command)
(1) Function
This command indicates a designation of axis of movement and a designation of relative movement in
order to operate linear interpolation movement. Operation of linear interpolation movement is able to
designate up to arbitrary 3 axes.
When this command is sent under condition of busy and unconnected of slave unit, it will be responsed
by NG as a command error and all command will stop to operate.
To operate an interpolation with this command, a designation of (S shape drive / trapezoidal
shape drive) and pulse speed and travel per pulse must be identical for both axes.
Otherwise, an interpolation movement will be unable to operate due to an incorrect setting.
Note: if there is a difference in Base rate between slave units, apparent speed ( [S, F, R value]
and [Microstep] and [Acceleration and Deceleration pattern (Trapezoidal shape or S shape)) is
same, pulse speed and travel per pulse are different.
Coordinate of linear movement is specified based on the relative travel from current position (0.01
µ
m
unit).
(2) Example
K
：
：
：
：
axis0,axis1, axis2,e0,e1,e2
axis0,axis1,axis2
：
：
：
：
0
～
～
～
～
7
means to designate the number of slave unit to operate linear
interpolation movement. Same number of slave unit or
unconnect is prohibited. To operate linear interpolation
movement by 2 axes, please abbreviate axis2.
e:Ended point coordinate
(e0 axis0 setting value
、
e1 axis1 setting value
、
e2 axis2 setting
value)
To operate linear interpolation movement by 2 axes,
please abbreviate axis2. (unit of setting 0.01
µ
m unit)
K
：
：
：
：
1,4,,+10000,20000
Ended point coordinate is based on a relative coordinate of the current
position (+0.1mm, +0.2mm) and move stages of slave unit No1
、
Slave unit
No4 linearly.
0.2mm
0.1mm
1 axis
4 axis