Omron CJ1W-C113 - REV 02-2008 Operation Manual page 246

Linear Interpolation
Reversal in Axis
Operation
Now, suppose that the interpolation speed to point A is "a," and the interpola-
tion speed to point B and below is "b." Then, when the completion code is con-
tinuous, 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
Origin
Completion
code:
continuous
Completion
code:
continuous
Point A Point B
Sudden output of pulses
A
a
θ
2
b
B
θ
1
Section 8-6
Time
Pulse output stops
Time
Sudden output of pulses
Time
Pulse output stops
X axis
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