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Linear Interpolation
Section 9-7
The speeds for individual axes in linear interpolation are determined by the
following equations. (The same equations are used for 2-axis or 3-axis linear
interpolation.)
Example: Linear Interpolation for 4-axis (Axis 1 to Axis 4) Operation
Axis 1 speed = Interpolation speed
×
Movement of Axis 1 / Total movement
Axis 2 speed = Interpolation speed
×
Movement of Axis 2 / Total movement
Axis 3 speed = Interpolation speed
×
Movement of Axis 3 / Total movement
Axis 4 speed = Interpolation speed
×
Movement of Axis 4 / Total movement
If speeds set using speed command values for individual interpolation axes
are exceeded when interpolation speed command values are resolved into
individual axis speeds by the above equations, those speeds are automati-
cally lowered so that each axis involved in linear interpolation is moved at the
set speed command value.
Axis Operating Output Memory Area
Servo Drive (Axis No.)
#2
MECHATROLINK-II
#3
#4
#5
#6
#7
#8
#1
Axis 1 Operating Output
Axis 5 Operating Output
CPU Unit
PCU
Linear interpolation
operations are possible
using any combination
of axes 1 to 4.
Linear interpolation
operations are possible
using any combination
of axes 5 to 8.
(Movement of Axis 1)
2
+ (Movement of Axis 2)
2
+ (Movement of Axis 3)
2
+ (Movement of Axis 4)
2
Total movement =
Содержание CJ1W-NC271 - 12-2009
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Страница 22: ...xxii ...
Страница 58: ...30 Starting Operation Section 2 2 ...
Страница 244: ...216 Axis Operating Input Memory Areas Section 4 8 ...
Страница 264: ...236 Transferring Servo Parameters Section 5 3 ...
Страница 396: ...368 Linear Interpolation Section 9 7 ...
Страница 648: ...620 List of Error Codes Appendix D ...
Страница 674: ...646 Additional Functions for the CJ1W NCF71 MA Appendix F ...
Страница 684: ...656 Index ...
Страница 686: ...658 Revision History ...