-64-
No. JXC
※
-OMT0002-C
10.4 Linear interpolation
Move axes in a straight line from the current position at a defined "Speed" (composite speed for the
speed of each axis) to a "Position" set in the step data. The speed of each axis is calculated using
the formulae below.
There are two types of linear interpolation. LIN-A to specify absolute coordinates and LIN-l to specify
relative coordinates. A pushing operation and linear interpolation of Axis 4 cannot be used.
Caution
Setting of the electronic Gear is necessary when actuators with different lead are used. If the
electronic Gear is not set, the step data operation may not be performed. Refer to section
3.6
Parameters and Step data
for the calculation of the electronic Gear.
Caution
The speed of the actuator may be outside of the specification range depending on the step data.
Calculate the speed of each axis before operation, and confirm that the speed is within the minimum
and maximum speed specified.
[Axis speed calculation]
Composite travel distance
=√((X
2
-X
1
)
2
+(Y
2
-Y
1
)
2
+(Z
2
-Z
1
)
2
)
Xaxis speed = ((X
2
-X
1
)/ Composite travel distance)
Composite speed
Y axis speed = ((Y
2
-Y
1
)/ Composite travel distance)
Composite speed
Z axis speed = ((Z
2
-Z
1
)/ Composite travel distance)
Composite speed
(X
1
, Y
1
, Z
1
)
(X
2
, Y
2
, Z
2
)
X axis
Yaxis
Z axis
Current position
Target position
Composite
speed