Omron SYSMAC C500-NC222-E Operation Manual page 102

Interpolation
ISRT with Address 124
Disabled
ISRT with Improper
Interpolation Codes
Straight-Line Interpolation
Address
200
201
202
203
Completion code
1
1
1
0
In this case the positioning action of address 124 is processed normally since
it is an end point; furthermore, address 123 remains enabled as an intermedi-
ate point. The entire operation proceeds normally.
P
2
10
P
01
1
Starting point
10
P
0
In this case a circular arc cannot be created with the designated positions,
and a circular arc data error occurs. Remember, two consecutive positioning
actions must comprise circular arc positioning. The first address must store
the circular arc center (interpolation code 11) or circular arc intermediate
point (interpolation code 10), and the second address must store the interpo-
lation end point (interpolation code 01).
The following table presents a hypothetical list of positioning actions all with
interpolation code 01 (as end points). The accompanying figure shows two
interpolation routes. The solid line from the starting point to P
obeys data in the table, because addresses 200 and 202 are disabled. If all
addresses 200-203 were all enabled, positioning would follow the broken line
in the figure.
Position
P X
0
P X
1
P X
2
P X
3
Address
600
601
602
603
Starting point
P
1
P
0
P
3
01
Interpolation Code Positioning Action enabled
01
01
01
01
P
2
P
3
Operation according to data in table
Operation when all positioning actions
in table (200-203) are enabled)
Section 6-4
and then to P
1 3
Enabled
Disabled
Enabled
Disabled
Position
P X
0
P X
1
P X
2
P X
3
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