Omron CJ1W-NC271 - 12-2009, Руководство по эксплуатации

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Linear Interpolation
Section 9-7
If direct operation (absolute movement or relative movement) is executed for
an axis designated in the interpolation axis designation while a linear interpo-
lation operation is in progress, that axis will start operation separately from the
linear interpolation operation. The acceleration and deceleration speeds at
that time will follow the acceleration and deceleration speeds set by the exe-
cution of LINEAR INTERPOLATION SETTING (determined from the speed
resolved with the interpolation acceleration and deceleration times). The Lin-
ear Interpolation Executing Flag will stay ON, however, until the operations of
all the originally designated interpolation axes (including this axis) are com-
pleted, or until the LINEAR INTERPOLATION START Bit turns OFF.
If MECHATROLINK communications are interrupted while the Linear Interpo-
lation Setting Completed Flag and the Linear Interpolation Executing Flag are
ON, the flags will hold their status until MECHATROLINK communications are
resumed, regardless of the status of the LINEAR INTERPOLATION SETTING
and LINEAR INTERPOLATION START Bits.
Linear Interpolation
Operation Speeds
There are two types of settings related to linear interpolation operation
speeds: interpolation speed command values and speed command values for
individual axes designated by the interpolation axis designation.
The interpolation speed command value designates the integrated speed for
linear interpolation. This command value is resolved for the individual interpo-
lation axes and becomes the speed command value for each axis.
The speed command values for individual axes at the time of linear interpola-
tion operation, on the other hand, are the maximum speed settings for the
individual axes. For all of the interpolation axes, the linear interpolation speed
is lowered so that the speed resolved from the interpolation speed command
value does not exceed this set value. (The axis with the longest movement
time is operated at 100% of the speed command value, and the speeds for the
other axes are lowered in order to perform the linear interpolation.)
Example 2-axis interpolation (axis 1 and axis 2), with target positions of 3,000 and
4,000 (command units) respectively, and with relative positioning designated
and the following speed command values set:
Interpolation speed command value:2,000 (command units/s)
Axis 1 speed command value: 600 (command units /s)
Axis 2 speed command value: 1,000 (command units /s)
The speeds resolved from the interpolation speed command value (in com-
mand units/s) are 1,200 for axis 1 and 1,600 for axis 2, but for linear interpola-
tion operation the speeds are reduced to the following values in order for the
maximum speeds set by the speed command values for individual axes to not
be exceeded.
Interpolation speed command value:1,000 (command units/s)
Axis 1 speed command value: 600 (command units/s)
Axis 2 speed command value: 800 (command units/s)
If a speed command value for an individual axis is set to 0, no maximum
speed limit will set for that interpolation axis and the speed resolved from the
interpolation speed command value will be used as is.
If the interpolation speed command value is set to 0, there is no interpolation
speed designation and the interpolation speed is determined by the speed
command values for the individual interpolation axes.