Omron CS1W-NC113 Manual page 201

Linear Interpolation
Reversal in Axis
Operation
Now, suppose that the interpolation speed to point A is "a," and the interpolation
speed to point B and below is "b." Then, when the completion code is continu-
ous, the interpolation speed and the speeds of the X and Y axes are as shown
below, with the pulses being output suddenly and stopped suddenly.
Interpolation
speed (pps)
X axis speed
(pps)
Y axis speed
(pps)
If an axis with interpolation reverses at the intermediate point when executing
linear interpolation with the completion code set to continuous (completion code
2), all axes with interpolation will temporarily stop at the intermediate points.
When reversing the operation direction of an axis, the same period of time will be
taken for other axes with interpolation.
Acceleration/Deceleration will not occur for a temporary stop at intermediate
points. When this operation is executed, therefore, set the completion code to
automatic (completion code 1).
The following example shows the linear interpolation of the X and Y axes starting
at the X axis. At point "A" the direction of movement at the Y axis is reversed.
Y axis
θ
Origin
In this example the interpolation speed to point "A" is given as "a," and the inter-
polation speed to point "B" is given as "b." With a continuous completion code,
Completion
code:
continuous
Completion
code:
continuous
Point A Point B
Sudden output of pulses
Pulse output stops
A
a
θ
2
b
B
1
Section 8-6
Time
Pulse output stops
Time
Sudden output of pulses
Time
X axis
191