Setting Data For Linear Interpolation Operation - Omron CJ1W-NC271 - 12-2009 Operation Manual

Linear Interpolation
1,2,3...
Note
9-7-3

Setting Data for Linear Interpolation Operation

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1. Set the data for linear interpolation operation.
Set the axis combination designation, the absolute and relative positioning
designation for individual interpolation axes, the interpolation acceleration
and deceleration times, and the interpolation speed command value in the
Axis Operating Output Memory Area for axis 1 (when using any combina-
tion of axes 1 to 4 for linear interpolation) or axis 5 (when using any com-
bination of axes 5 to 8 for linear interpolation).
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2. Set the data for individual axis interpolation operations.
In the Axis Operating Output Memory Area, for each axis specified for
interpolation, set the position data in the position command value and
the speed data in the speed command value.
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3. Set linear interpolation.
Turn ON the LINEAR INTERPOLATION SETTING Bit in the Axis Operat-
ing Output Memory Area for axis 1 (or axis 5).
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4. Start linear interpolation operation.
Turn ON the LINEAR INTERPOLATION START Bit in the Axis Operating
Output Memory Area for axis 1 (or axis 5).
(1) When the linear interpolation function is used, set the communications
cycle (PCU address 1856 hex: bits 07 to 00) in the MECHATROLINK
communications settings in the CPU's Common Parameter Area to a val-
ue at least one greater than the normal minimum value. If the communi-
cations cycle is set too low, the command response times for PCU
functions may become too long.
(2) From the point where linear interpolation is first set until axis operation is
finished (i.e., while the LINEAR INTERPOLATION SETTING Bit is ON or
until the Linear Interpolation Executing Flag turns OFF), command re-
sponse times for the other axes not involved in the linear interpolation are
delayed by up to four communications cycles per combination of axes ex-
ecuting linear interpolation.
PCU linear interpolation operations can be executed simultaneously for two
combinations of axes, from axes 1 to 4 and axes 5 to 8. For a combination of
axes 1 to 4, set the following linear interpolation-related data in the Axis 1
Operating Output Memory Area, and for a combination of axes 5 to 8 set the
data in the Axis 5 Operating Output Memory Area.
• Interpolation acceleration and deceleration times
• Interpolation axis designation
• Interpolation position designation
• Interpolation speed command value
Also, in the Axis Operating Output Memory Area for each axis, make the fol-
lowing settings related to individual axes specified for linear interpolation.
• Position command value (Command value absolute and relative positions
are handled according to the interpolation position designation.)
• Speed command value (Functions as the maximum speed designation for
individual interpolation axes, with respect to the interpolation speed com-
mand value.)
Section 9-7