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9 Motion Control Functions
9-48
NJ-series CPU Unit Motion Control User’s Manual (W507)
Linear interpolation is used to move 2 to 4 of the logical axes A0 to A3 in a straight line between a start
point and an end point. Either absolute or relative positioning is possible. You can specify the interpola-
tion velocity, interpolation acceleration, interpolation deceleration, and jerk.
The MC Function Modules uses the following three kinds of linear interpolation instructions.
•
MC_MoveLinear (Linear Interpolation)
You can specify the
MoveMode
input variable to select between linear interpolation to an absolute
value or linear interpolation to a relative value. This instruction is unique to the MC Function Module.
•
MC_MoveLinearAbsolute (Absolute Linear Interpolation)
This instruction performs linear interpolation to an absolute value. This instruction is defined in the
PLCopen technical specifications.
•
MC_MoveLinearRelative (Relative Linear Interpolation)
This instruction performs linear interpolation to a relative value. This instruction is defined in the
PLCopen technical specifications.
The following figure shows linear interpolation of 2 axes from point A to point B.
For details on linear interpolation, refer to the MC_MoveLinear (Linear Interpolation),
MC_MoveLinearAbsolute (Absolute Linear Interpolation), and MC_MoveLinearRelative (Relative Linear
Interpolation) instructions in the
NJ-series Motion Control Instructions Reference Manual
(Cat. No.
W508).
9-6-2
Linear Interpolation
X
Td
Ta
A
F
B
Y
Ta
Fa0
Fa1
Td
La0
L
La1
Axis A0 motion
Axis A1 motion
Содержание NJ501-1300
Страница 12: ...Sections in this Manual 10 NJ series CPU Unit Motion Control User s Manual W507...
Страница 18: ...16 NJ series CPU Unit Motion Control User s Manual W507 CONTENTS...
Страница 22: ...Read and Understand this Manual 20 NJ series CPU Unit Motion Control User s Manual W507...
Страница 34: ...Revision History 32 NJ series CPU Unit Motion Control User s Manual W507...
Страница 44: ...1 Introduction to the Motion Control Function Module 1 10 NJ series CPU Unit Motion Control User s Manual W507...
Страница 58: ...2 Motion Control Configuration and Principles 2 14 NJ series CPU Unit Motion Control User s Manual W507...
Страница 86: ...3 Configuring Axes and Axes Groups 3 28 NJ series CPU Unit Motion Control User s Manual W507...
Страница 98: ...4 Checking Wiring from the Sysmac Studio 4 12 NJ series CPU Unit Motion Control User s Manual W507...
Страница 122: ...5 Motion Control Parameters 5 24 NJ series CPU Unit Motion Control User s Manual W507...
Страница 158: ...6 Motion Control Programming 6 36 NJ series CPU Unit Motion Control User s Manual W507...
Страница 166: ...7 Manual Operation 7 8 NJ series CPU Unit Motion Control User s Manual W507...
Страница 182: ...8 Homing 8 16 NJ series CPU Unit Motion Control User s Manual W507...
Страница 346: ...10 Sample Programming 10 92 NJ series CPU Unit Motion Control User s Manual W507...
Страница 422: ...Appendices A 18 NJ series CPU Unit Motion Control User s Manual W507...
Страница 423: ...Index 1 NJ series CPU Unit Motion Control User s Manual W507 I Index...
Страница 430: ...Index 8 NJ series CPU Unit Motion Control User s Manual W507 Index...