Omron CJ1W-MA - REV 10-2008, Руководство по эксплуатации

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Linear Interpolation Section 9-7
For further details on the torque limit function, refer to 10-4 Torque Limits .
The SMARTSTEP Junior Servo Drives do not support torque control.
9-7 Linear Interpolation
With unit version 1.1 or later of the Position Control Unit, a linear interpolation
function that can perform linear interpolation using multiple axes in combina-
tion has been added.
Linear interpolation can be executed for the axes of a Servo Drive connected
to the Position Control Unit, using up to four axes in any combination for axes
1 to 4 or axes 5 to 8.
Note Do not write data to the CJ1W-NC @ 71 unit version 1.1 or later that has been
backed up from the CJ1W-NC @ 71 unit version 1.0 to a Memory Card in the
CPU Unit (using either the CPU Unit’s simple backup function or the Position
Control Unit’s backup function). When unit version 1.0 backup data is restored
to unit version 1.1 or later, the linear interpolation function cannot be used. To
transfer unit version 1.0 settings to unit version 1.1 or later, use the parameter
transfer function using the READ DATA, WRITE DATA, or SAVE DATA Bit in
the Common Operating Memory Area.
9-7-1 Overview of Linear Interpolation Function
Linear interpolation operates according to the following settings data for axes
1 to 4 or axes 5 to 8.
•
Designation of axes to combine for linear interpolation (Interpolation axis
designation)
•
Position command values for individual interpolation axes
•
Designation of absolute and relative positions for position command val-
ues for individual interpolation axes (interpolation position designation)
•
Interpolation speed command values and speed command values for
individual interpolation axes
•
Interpolation acceleration and deceleration times
Based on these commands, the respective linear interpolation operations are
started by the LINEAR INTERPOLATION START Bit allocated in the Axis
Operating Output Memory Area (axis 1 for interpolation operations using axes
1 to 4, and axis 5 for interpolation operations using axes 5 to 8).