Oriental motor EMP400 Series, Руководство по эксплуатации

Страница: 57 / 116

9 Program command
－
57
－
2-axis linear interpolation operation
The 2-axis linear interpolation operation allows linear movement toward a target position by controlling
2 axes.
Since this operation applies to linear acceleration/deceleration mode, the operation will be performed in
linear acceleration/deceleration mode even if the current setting is jerk-limit control.
In a 2-axis linear interpolation operation, the axis with larger movement set in the D command becomes
the main axis, while the other becomes the sub-axis. The speed of the sub-axis is calculated from the
main axis’ speed and amount of movement.
Memo If the amount of movement of the sub-axis is significantly smaller than that of the main
axis, linear movement to the target position may not be achieved.
Main axis
Sub-axis
Target position
Current position
About manageable coordinates
During motor operation the controller keeps track of the number of pulses that have been output. The
values of these counters are referred to as manageable coordinates. Manageable coordinates have upper
and lower limits (manageable coordinate range). If the counter value lies outside the manageable
coordinate range, the controller cannot count the number of pulses.
Incremental operation sets the movement amount based on the current position. Therefore, the motor can
operate outside the manageable coordinate range.
On the other hand, absolute operation sets the movement amount from the reference point. Therefore, the
motor does not operate if the movement violates the manageable coordinate range.
If the manageable coordinate range has been violated in absolute operation, see the section on “Position
counter overflow. Please clear Position counter.” in section 11.2 “Error messages” on p.103, to reset the
counter value for the number of pulses.
Incremental operation
Absolute operation
Upper limit of manageable coordinates
Incremental operation sets the movement
amount based on the current position.
Therefore, the motor operates outside the
manageable coordinate range.
However, pulses above the upper limit of
manageable coordinates will not be counted.
Absolute operation sets the movement
amount from the reference point. Therefore,
the motor does not operate if the movement
violates the manageable coordinate range.