Motion Control - Omron CS1W-MC221 - 02-2008 Operation Manual

Basic Operations
Cylindrical Robots
1-3-1

Motion Control

PTP Control
8
Two-axis robot
Four-axis robot
The MC Unit offers the following three types of motion control:
PTP Control
CP Control (linear interpolation and circular interpolation)
Interrupt Feeding
Control programs are created in the G language.
PTP control is used to control each axis (X and Y axis) independently. Posi-
tioning time depends on the travel distance and speed of each axis.
Example: Moving from the origin to the X-axis coordinate of 100 and Y-axis
coordinate of 50 at the same speed.
Three-axis robot
X: Although point-to-point control is
possible, linear and circular
interpolation are not possible for
the ends of the robot arms.
Positioning is executed separately for each
axis, so travel between the two points is
carried out as shown in the diagram.
Section 1-3