Omron TJ1-DRT Hardware Reference Manual page 21

System philosophy
Linear interpolation
In applications it can be required for a set of motors to perform a fig. 7
move operation from one position to another in a straight line.
Linearly interpolated moves can take place among several axes.
The commands MOVE and MOVEABS are also used for the linear
2
interpolation. In this case the commands will have multiple
arguments to specify the relative or absolute move for each axis.
Consider the three axis move in a 3-dimensional plane in the figure.
It corresponds to the MOVE(50,50,50) command. The speed profile
of the motion along the path is given in the diagram. The three
parameters SPEED, ACCEL and DECEL that determine the multi
1
axis movement are taken from the corresponding parameters of the
base axis. The MOVE command computes the various
3
components of speed demand per axis.
A is the time axis, B is the speed axis.
B
A
HARDWARE REFERENCE MANUAL 21