LSIS XBE-DC08A, Руководство пользователя, Страница: 602 / 1284

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Chapter 8 Functions
8-49
(3) Speed in 3 axes linear interpolation control
Operating speed in linear interpolation is according to the method of main-axis designating. After operating speed is
set on command axis (main), the designated axis for interpolation is operated by embedded positionig module’s
calculating each moving amount. Speed of sub-axis and actual speed of machine are calculated as follows.
■ Speed in 3 axes linear interpolation
Y
X
Y1
X1 X2
Moving amount of X(S
x
)
Moving amount of Y (S
y
)
Action by linear interpolation
Goal position
(X2, Y2, Z2)
V
x
Starting position
(X1, Y1, Z1)
F
V
y
V
z
Y2
Moving amount of
Z(S
z
)
Z
Z1
Z2
) ( Main of amount Moving
) ( Sub of amount Moving
) ( main of Speed ) ( sub of Speed
x
y
x y
S
S
V V
× =
) ( main of amount Moving
) ( sub of amount Moving
) ( main of Speed ) ( sub of Speed
x
z
x z
S
S
V V
× =
2 2 2
) ( speed ing Interpolat
z y x
V V V F
+ + =
[Example]
■ Starting position (2000, 1000, 1000)
■ Goal position (6000, 5000, 6000)
■ Operating speed : 400 [pls/s]
Speed of sub-axis and interpolating speed are as follows.
Speed of sub-axis1 =
300
4000
3000
400
= ×
[pls/s]
Speed of sub-axis2 =
500
4000
5000
400
= ×
[pls/s]
Interpolating speed =
707 500 300 400
2 2 2
≈ + +
[pls/s]