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359
Linear Interpolation
Section 9-7
Once the above settings have been made, then execute linear interpolation
operations by using the following two bits allocated in the Axis Operating Out-
put Memory Area for axis 1 or axis 5.
•
LINEAR INTERPOLATION SETTING
•
LINEAR INTERPOLATION START
Example: Linear Interpolation for 4-axis (Axis 1 to Axis 4) Operation
Note
(1) When executing interpolation operations using a combination of axes 5 to
8, the interpolation axis designation and interpolation position designa-
tion are made for axes 5 to 8 respectively in the Axis 5 Operating Output
Memory Area, in bits 04 to 07 in the corresponding words in the above
diagram.
(2)
Set the acceleration/deceleration curve designation (the S-curve desig-
nation) and the forward/reverse torque designation for each designated
interpolation axis.
Common Parameter Area
MECHATROLINK Communications Settings
Servo Parameter Area
Acceleration/Deceleration Constants
+0
00 LINEAR INTERPOLATION SETTING
01 LINEAR INTERPOLATION START
+2
+3
+4
+5
+10
Option command value 1
Linear interpolation acceleration time
+11
Not used
+12
Option command value 2
+13
Not used
15 Reverse rotation current limit
14 Forward rotation current limit
04
15 14
04
15 14
04
+16
04 S-curve designation
03 Axis 4
02 Axis 3
01 Axis 2
00 Axis 1
+21
Interpolation axis designation
+22
Interpolation position designation
+23
+24
Axis 1 Operating Output
Axis 2 Operating Output
Axis 3 Operating Output
Axis 4 Operating Output
Axis 1 Position command
value
Axis 4 Position command
value
Axis 3 Position command
value
Axis 2 Position command
value
Axis 1 Speed command
value (for position control)
Axis 4 Speed command
value (for position control)
Axis 3 Speed command
value (for position control)
Axis 2 Speed command
value (for position control)
Linear interpolation deceleration time
Interpolation Speed
command value
PCU's address
Contents
Setting
Bits 08 to 15
Bits 00 to 07
1856 hex
Transfer cycle
Communica-
tions cycle
Set the communications cycle to a value one greater than the min-
imum communications cycle value determined by the number of
connected devices. (Refer to
6-2-3 MECHATROLINK Communica-
tions Settings
.)
Type
Parameter
No.
Parameter name
Unit
Setting range
Parameter
size
Default
setting
Accelera-
tion/deceler-
ation
constants
Pn80C
Acceleration constant
switching speed
100 command
units/s
Must be set to 0.
2
0
Pn80F
Deceleration constant
switching speed
100 command
units/s
Must be set to 0.
2
0
Содержание CJ1W-NC271 - 12-2009
Страница 2: ......
Страница 4: ...iv ...
Страница 6: ...vi ...
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 ...