Omron TJ2-MC02 Hardware Reference Manual page 19

System philosophy
2.2.2 CP control
Continuous Path control enables to control a specified path between the
start and end position of a movement for one or multiple axes. The TJ2-
MC__ supports the following operations:
• Linear interpolation
• Circular interpolation
• CAM control.
Linear interpolation
In applications it can be required for a set of motors to perform a 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 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 axis movement are
taken from the corresponding parameters of the base axis. The MOVE
command computes the various components of speed demand per axis.
A is the time axis, B is the speed axis.
HARDWARE REFERENCE MANUAL
fig. 7
2
3
B
1
A
14