Omron CS1W-NC113 Manual page 199

Linear Interpolation Section 8-6
For details regarding positioning sequence settings, refer to 8-4 Positioning
Sequences.
Y axis
Interpolation end point
v: interpolation speed
Start point
X axis
The speeds of the axes during linear interpolation are determined according to
the following equations. (The same equations can also be applied for 2 or 3-axis
operation.)
Example: Linear interpolation for simultaneous 4-axis operation
X-axis speed = Interpolation speed × Movement of X axis ÷ Total movement
Y-axis speed = Interpolation speed × Movement of Y axis ÷ Total movement
Z-axis speed = Interpolation speed × Movement of Z axis ÷ Total movement
U-axis speed = Interpolation speed × Movement of U axis ÷ Total movement
2 2 2 2
Total movement = (Movement of X axis) + (Movement of Y axis) + (Movement of Z axis) + (Movement of U axis)
When the interpolation speed is separated in the way shown above, if the speed
for any axis is greater than its maximum speed setting, the interpolation speed is
automatically lowered so that the speed for that axis (or axes) is equal to the
maximum speed setting.
With this PCU, the interpolation speed can be set up to 1,000 pps so as to allow
each axis to move simultaneously at its maximum speed (500 pps) whilst operat-
ing according to linear interpolation. If a value exceeding 1,000 pps is set, a
speed error (error codes 1500 to 1599) will be generated.
The maximum distance the can be moved in one linear interpolation operation
(i.e., for one sequence) is 2,147,483,520 (7FFFFFF80 Hex) pulses. If a linear
interpolation operation that exceeds this value is specified, an overflow error
(error code 8601) will be generated. For example, moving from the point (X, Y) =
(--1073741823, 0) to the point (X, Y) = (1073741823, 1) would, using the above
equations, entail moving a total distance of 2,147,483,647 (7FFFFFFF Hex)
pulses. This value exceeds 2,147,483,520 and so if an operation to move
between these 2 points using linear interpolation was specified, an overflow
error (error code 8601) would be generated.
189