Omron CS1W-MC221 - 02-2008 Operation Manual page 413

G-language Commands
Operands
Description
!Caution When linear interpolation is performed in Pass Mode and an M code from 0
386
Note The stopover function can be used with either an M code or a D code, but not
with both.
The following table shows the possible settings for the operands.
Operand
Axis movement Axes
command
Coordinate data –39,999,999 to +39,999,999
Speed reference
M code
D code
Stopover Axes
Coordinate data 0 to 39999999
Optional number
Note Refer to 7-4 M Code Outputs for details on M codes, and to 7-4-9 D Code Out-
puts for details on D codes. Refer to 7-4-10 Stopover Function for details on
the stopover function.
Performs linear interpolation on up to four axes simultaneously at the speci-
fied interpolation feed rate.
The interpolation feed rate is calculated with the equations shown below. Four
axes are shown, but the same calculations apply when three or fewer axes
are being used.
Fx = F dLx/L
Fy = F dLy/L
Fz = F dLz/L
Fu = F dLu/L
Fx to Fu: Interpolation feed rates for axes X to U
dLx to dLu: Movement distance for axes X to U
L: Total distance between start and end of linear interpolation
2
L = dLx +
If the interpolation feed rate is not specified, the interpolation will be per-
formed at the last feed rate used in a G01, G02, or G03 command. An error
will occur if the interpolation feed rate is not specified and the G01, G02, or
G03 command has not been executed before.
through 499 or an optional number is specified, the interpolation will be per-
formed in Stop Mode, not Pass Mode. For details on the Pass Mode, refer to
7-3-5 G10: PASS MODE.
If the same interpolation acceleration/deceleration times and override values
are not set for all of the axes used in a task, the settings for the axis with the
[_D<D code>[/Stopover (Note.)]]
[_#<optional number>]
X, Y, Z, U
(E00) to (E31)
A0000 to A1999
0.0001 to 39,999,999
(E00) to (E31)
A0000 to A1999
000 to 999
(E00) to (E31)
A0000 to A1999
000 (0) to 255
(E00) to (E31)
A0000 to A1999
X, Y, Z, U
(E00) to (E31)
A0000 to A1999
00 to 19
2 2 2
dLy + dLz + dLu
Section 7-3
Possible settings