Omron C200H-MC221 Operation Manual page 53

Linear Interpolation
Interpolation Acceleration
and Deceleration Times
Triangular Control
Fx and Fy can be expressed as follows:
Fx= Lx/L x F
Fy= Ly/L x F
Where, L is the travel distance in the specified locus, Lx is the travel distance
along the X axis, and Ly is the travel distance along the Y axis.
Interpolation acceleration and deceleration times for linear interpolation are de-
fined as follows:
Interpolation acceleration time: Time required to reach the specified interpola-
Interpolation deceleration time: Time required until the speed control voltage
Unlike those in the PTP control, linear interpolation acceleration and decelera-
tion times are not affected by the speed. Acceleration changes according to the
movement to satisfy the preset interpolation acceleration and deceleration
times.
When the mode is set to the stop mode and if the travel time is shorter than the
sum of the interpolation acceleration time and the deceleration time, move-
ments are subject to the triangular control as in the PTP control.
When the mode is set to the pass mode, the travel time won't become shorter
than the preset interpolation acceleration and deceleration times, but the speed
will become slower than the designated speed.
Y-axis movements
X-axis movements
The ratio between the interpolation acceleration time and the deceleration time
in the triangular control is equal to the ratio between the preset interpolation ac-
celeration time (Ta) and the deceleration time (Td). Td'/Ta'=Td/Ta
tion feed rate on the composite axial locus.
drops to zero from the specified interpolation
feed rate on the composite axial locus.
Section 5-3
39