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364
Linear Interpolation
Section 9-7
Execute LINEAR INTERPOLATION START when the Linear Interpolation
Executing Flag in the Axis Operating Input Memory Area for axis 1 (or axis 5),
and the Busy Flag and Error Flag for the axes designated by the interpolation
axis designation, are reset. If the Linear Interpolation Setting Executing for
axis 1 (or axis 5) is set, or if an axis designated by the interpolation axis desig-
nation is busy (i.e., Busy Flag ON), or if an error has occurred (i.e., Error Flag
ON), the LINEAR INTERPOLATION START command will be ignored and will
not be executed.
Note
(1) From the time that the LINEAR INTERPOLATION SETTING Bit turns ON
until the LINEAR INTERPOLATION START Bit turns ON, do not make
changes to any data related to linear interpolation operations. In addition,
do not make any changes to speed command values for individual axes
while linear interpolation operations are in progress (i.e., while the Busy
Flag for any interpolation axis is ON).
(2) For an axis designated as 0 (absolute position) by the interpolation posi-
tion designation, the origin must be established. If the origin is not estab-
lished (i.e., if the No Origin Flag is ON), a Present Position Unknown Error
(axis error code: 3030) will occur when LINEAR INTERPOLATION
START is executed (i.e., when linear interpolation operation is started),
and the axis will not be operated. At that time, the other interpolation axes
will also be decelerated to a stop.
Example: Linear
Interpolation Operation.
The basic flow of operations for linear interpolation is shown below.
In this example, “a” indicates the beginning word of the Axis Operating Output
Memory Area for axis 1 when a combination of axes 1 to 4 is used for linear
interpolation, and axis 5 when a combination of axes 5 to 8 is used. Likewise,
“b” indicates the beginning word of the Axis Operating Input Memory Area for
axis 1 when a combination of axes 1 to 4 is used, and axis 5 when a combina-
tion of axes 5 to 8 is used.
1,2,3...
1.
With the bits in the interpolation axis designation (word a+21), designate
the axes to be combined for the linear interpolation operation.
2.
With the bits in the interpolation position designation (word a+22), desig-
nate either absolute or relative position for the position command values
for the axes designated as interpolation axes.
3.
With the interpolation speed command value (words a+23, a+24), desig-
nate the interpolation speed (i.e., the integrated speed). With the speed
command values for the axes designated as interpolation axes, designate
the maximum speed for each axis.
For details on the relation between linear interpolation operation speeds
and interpolation speed command values and individual axis speed com-
mand values, refer to the
Linear Interpolation Operation Speeds
on
page 366.
4.
With option command value 1 (word a+10) and option command value 2
(word a+12), set the interpolation acceleration time and the interpolation
deceleration time.
5.
Turn ON the LINEAR INTERPOLATION SETTING Bit (word a, bit 00).
6.
When the linear interpolation operation settings have been completed, the
Linear Interpolation Setting Completed Flag (word b+24, bit 00) will turn
ON.
Содержание CJ1W-NC271 - 12-2009
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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 ...