Omron GRT1-ML2 Hardware Reference Manual page 19

System philosophy
Circular interpolation
It may be required that a tool travels from the starting point to the end point
in an arc of a circle. In this instance the motion of two axes is related via a
circular interpolated move using the MOVECIRC command.
Consider the diagram in the figure. It corresponds to the MOVECIRC(-
100,0,-50,0,0) command. The centre point and desired end point of the
trajectory relative to the start point and the direction of movement are
specified. The MOVECIRC command computes the radius and the angle of
rotation. Like the linearly interpolated MOVE command, the ACCEL, DECEL
and SPEED variables associated with the base axis determine the speed
profile along the circular move.
CAM control
Additional to the standard move profiles the TJ1-MC__ also provides a way
to define a position profile for the axis to move. The CAM command moves
an axis according to position values stored in the TJ1-MC__ Table array.
The speed of travelling through the profile is determined by the axis
parameters of the axis.
The figure corresponds to the command CAM(0,99,100,20). A is the time
axis, B is the position axis.
2.2.3 EG control
Electronic Gearing control allows you to create a direct gearbox link or a
linked move between two axes. The MC Unit supports the following
operations.
• Electronic gearbox
• Linked CAM
• Linked move
• Adding axes
HARDWARE REFERENCE MANUAL
fig. 8
50
-50 0 50
fig. 9
B
A
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