Omron CS1W-MCH71 -, Руководство по эксплуатации

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Command Details
Section 6-3
Linear Interpolation
(MOVEL)
Positioning is performed on up to eight axes with linear interpolation at the
specified interpolation feed rate.
Command type Single execution command
Format MOVEL_[<axis name>]<position command value> ---8--- {F<interpolation
feed rate>};
Ex: MOVEL_[J01]100.01 [J02]-100.02 F10000.25;
Operand Position command value
Axis name: J01 to J32
Note (1) Word data is extended to long word data with a sign in the MC Unit.
(2) The actual value is determined by the setting value of the parameter
[P5AA02: Position command decimal point position].
(3) The maximum speed in actual operations will be limited by the maximum
feed rate of the interpolation or axis.
(4) The actual value is determined by the setting value of the parameter
[P00M10: Interpolation feed decimal point position].
Description • The MOVEL command executes linear interpolation at the specified inter-
polation feed rate to the position specified with the position command
value.
• The interpolation feed rate indicates the combined speed of all the speci-
fied axes.
• The MOVEL command execution will be completed when the travel dis-
tance command output for all the specified axes is completed (or No.2 in-
position completion).
• During the command execution, the command code “0002h” is output to
the system variable “Command execution status” (SW0228 for Axis 1).
(For details of command codes, see
4-5 System Variables Command
Code in Command Execution Status on page 158.)
Operand Setting range Decimal Variable specification INC/ ABL
influ-
ence
Bit Word Long
word
Real
number
Indirect
specifi-
cation
Position command
value
−
2147483648 to
2147483647
Yes No Yes (See
note 1.) Yes Yes (See
note 2.) Yes Yes
Interpolation feed
rate 1 to
2147483647
(See note 3.) Yes No Yes (See
note 1.) Yes Yes (See
note 4.) Yes No