Sample Program (Interpolation Control) - Panasonic FP7 User Manual

Programming Precautions
• For X-Y plane, in the case of the center point specification, the X-axis auxiliary point is the
center point of X-axis, and the Y-axis auxiliary point is the center point of Y-axis. In the case
of the pass point, each pass point is set as the pass point of X-axis and Y-axis. These
settings are the same for Y-Z plane and X-Z plane.
• When the control method is increment, both the center point and pass point will be increment
coordinates from the start point.
• When the start point and the operation done point is the same, it performs one circular
operation when using the center point method. However, when using the pass point method,
an error will occur.
• In the case of the pass point method, when the start point, pass point, and operation done
point exist in the same straight line, an arc will not be comprised and an error will occur.
• In the case of specifying long axis speed, the composite speed will be faster than the long
axis speed.
• If any value such as a movement amount, acceleration time, deceleration time or target
speed is out of the specified range, a set value error will occur when the positioning control
starts.
• The start contact and flag number varies depending on the number of axes and the
installation position of the unit.
• The specified slot number varies depending on the installation position of the unit.

7.2.6 Sample Program (Interpolation Control)

An example of 3-axis interpolation control is shown below.
 Sample program
X100 X104 X160
1st axis error
Ready Tool
operation
positioning
X161
2nd axis error
X162
R2
( DF )
Positioning
control start
R2
( DF )
Positioning
1st axis
control start
operation
enabled
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3rd axis error
POSSET
R10 R11 R12 X118
1st axis
2nd axis 3rd axis
BUSY
operation operation
enabled enabled
flag flag flag
R10
Operation
enabled flag
R11
Operation
enabled flag
R12
Operation
enabled flag
U1 U1 U1
Slot Axis Table
number number number
X119 X11A Y110
2nd axis 3rd axis Positioning
BUSY BUSY
start for 1st
axis
7.2 Interpolation Control
Operation enabled
condition
Set the slot
number, axis
number, and table
number and start
positioning.
Positioning start-
up
7-23