Linear Interpolation Operation Procedure - Omron CJ1W-NC271 - 12-2009 Operation Manual

Linear Interpolation
Example: Linear Interpolation for 2-axis (Axis 1 and Axis 2) Operation
Note
9-7-2

Linear Interpolation Operation Procedure

Axis 2
Axis 2 target position
Interpolation speed
Axis 2 speed
Start Point
Speed
Interpolation speed
Axis 1 speed
Axis 2 speed
Interpolation acceleration time
In the linear interpolation function of the Position Control Unit, the acceleration
and deceleration operations for each axis based on the interpolation accelera-
tion time and interpolation deceleration time that were set are performed by
using the Second-step Linear Acceleration Constant for W-series Servo
Drives (Pn80B), Linear Acceleration Constant for G-series Servo Drives
(Pn107) or Linear Acceleration Constant for G5-series Servo Drives (Pn811)
and Second-step Linear Deceleration Constant for W-series Servo Drives
(Pn80E), Linear Deceleration Constant for G-series Servo Drives (Pn10A), or
Linear Deceleration Constant for G5-series Servo Drives (Pn814).
The setting unit for the Second-step Linear Acceleration Constant and Sec-
ond-step Linear Deceleration Constant is 10,000 command units/s
tion, the actual acceleration and deceleration times are thus affected by the
precision of the command unit.
Just as with direct operation (absolute and relative movement commands), lin-
ear interpolation is executed by setting operation commands in the Axis Oper-
ating Output Memory Area.
Common commands for linear interpolation operations, such as designation
of interpolation axis combinations, interpolation speeds, and interpolation
acceleration and deceleration times, are set in the Axis Operating Output
Memory Area for axis 1 or axis 5, and position and speed command values for
individual linear interpolation axes are set in the Axis Operating Output Mem-
ory Area for those particular axes. Then linear interpolation operations are
started by using the LINEAR INTERPOLATION SETTING and LINEAR
INTERPOLATION START Bits.
The following procedure describes the steps related to starting linear interpo-
lation operations, from servolock onwards.
Interpolation end point
Axis 1 Speed Axis 1 target
position
Interpolation deceleration time
Section 9-7
Axis 1
Time
2
. In opera-
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