SC40401-K10-15002
1st
46
Copyright 2015, SIGMAKOKI Co.,Ltd.
4-1-7 K command
(Linear interpolation movement command)
(1) Function
This command indicates a designation of axis of movement and a designation of relative movement in
order to operate linear interpolation movement. Operation of linear interpolation movement is able to
designate up to arbitrary 3 axes.
When this command is sent under condition of busy and unconnected of axis, it will be responsed by
NG as a command error and all command will stop to operate.
To operate an interpolation with this command, a designation of (S-Curve / Linear-Curve) and
pulse speed and travel per pulse(PLS RATE) must be identical for both axes.
Otherwise, an interpolation movement will be unable to operate due to an incorrect setting.
Note: if there is a difference in PLS RATE between axis, apparent speed ( [S, F, R value] and
[Microstep] and [Acceleration and Deceleration pattern (Linear-Curve or S-Curve)) is same,
pulse speed and travel per pulse are different.
Coordinate of linear movement is specified based on the relative travel from current position (0.01
µ
m
unit).
(2) Example
K
：
：
：
：
axis1,axis2, axis3,e1,e2,e3
axis1,axis2,axis3
：
：
：
：
1
～
～
～
～
4
means to designate the number of axis to operate linear
interpolation movement. Same number of axis or unconnect is
prohibited. To operate linear interpolation movement by 2 axes,
please abbreviate axis2.
e:Ended point coordinate
(e1 axis1 setting value
、
e2 axis2 setting value
、
e3 axis3 setting
value)
To operate linear interpolation movement by 2 axes,
please abbreviate axis2. (unit of setting 0.01
µ
m unit)
K
：
：
：
：
1,4,,+10000,20000
Ended point coordinate is based on a relative coordinate of the current
position (+0.1mm, +0.2mm) and move stages of axis No1
、
axis No4 linearly.
0.2mm
0.1mm
1 axis
4 axis
