Using Continuous Completion With Linear Interpolation - Omron C200HW Operation Manual

Operations With Memory Operation

8-3-4 Using Continuous Completion with Linear Interpolation

Axis Designation
Precautions
When Using a Stepping
Motor
160
When an axis is started with linear interpolation with the completion code set to
continuous (completion code 2), the following points need to be observed.
When executing linear interpolation with the completion code set to continuous
(completion code 2), the axis designation must match the following sequence.
If a positioning sequence different from the designated axis is executed continu-
ously (completion code 2), it is possible that all axes with interpolation will tem-
porarily stop at an intermediate point. The stop period will be approximately
8 ms. There will be no acceleration/deceleration when there is a temporary stop
at the intermediate point.
Example:
Sequence No. n
Axis: X/Z
Completion code:
Continuous
Possible temporary stop
When using a stepping motor for continuous linear interpolation, use the auto-
matic completion code (completion code 1). Interpolation is started with the tar-
get speed and acceleration/deceleration time of the active axis, so the pulses
may suddenly become high or stop suddenly if the continuous completion code
(completion code 2) is used. As a result, the motor may not be able to follow the
variations in the pulses and may malfunction.
For example, suppose that a two-axis (axes X and Y) linear interpolation opera-
tion has been executed by starting the X axis. The movement on the Y axis from
point A to point B will be 0.
Y axis (pulses)
Sequence No. n + 1
Axis: X/Y/Z
Completion code:
Continuous
Continuous operation is possible
Positioning path
Section 8-3
Sequence No. n + 2
Axis: X/Y/Z
Completion code:
Continuous
X axis (pulses)