Positioning Linear Interpolation - Omron SYSMAC CP Series User Manual

12 Pulse Outputs

12-5 Positioning Linear Interpolation

This section describes how to position linear interpolation when using the ITPL instruction.
Linear interpolation can be used only with the CP2E N
12-5-1 Positioning Linear Interpolation
Linear interpolation positioning is performed with the ITPL instruction. The ITPL instruction executes
positioning by using linear interpolation operation to the specified postion.
Positioning by linear interpolation enables higher-speed positioning than single-axis positioning.
• Two linear interpolations can be used for an N14/20 CPU Unit, and up to four linear interpolations can
be used for an N30/40/60 CPU Unit.
• Linear interpolation can be used with absolute coordinates, it cannot be used with relative coordi-
nates.
Execute the ITPL instruction after the origin is defined.
Linear interpolation 0
Linear interpolation 1
12-26
Two-axis interpolation Three-axis interpolation
Pulse output 0, 1
Pulse output 2, 3
-type CPU Unit with transistor outputs.
Four-axis interpolation
Pulse output 0, 1, 2 Pulse output 0, 1, 2,3
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CP2E CPU Unit Software User's Manual(W614)
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