Omron CJ1W-MA - REV 10-2008 Operation Manual page 366

Linear Interpolation
Example: Linear Interpolation for 4-axis (Axis 1 to Axis 4) Operation
Axis 1 Operating Output
+0
+2
Axis 1 Position command
+3 value
+4
Axis 1 Speed command
+5 value (for position control)
+10
Option command value 1
+11
+12
Option command value 2
+13
15 Reverse rotation current limit
14 Forward rotation current limit
+16
04 S-curve designation
+21
+22
+23
Interpolation Speed
+24
command value
Note
Common Parameter Area
PCU's address
Bits 08 to 15
1856 hex Transfer cycle
Servo Parameter Area
Type Parameter
No.
Accelera- Pn80C
tion/deceler-
ation
Pn80F
constants
Once the above settings have been made, then execute linear interpolation
operations by using the following two bits allocated in the Axis Operating Out-
put Memory Area for axis 1 or axis 5.
• LINEAR INTERPOLATION SETTING
• LINEAR INTERPOLATION START
Axis 2 Operating Output
00 LINEAR INTERPOLATION SETTING
01 LINEAR INTERPOLATION START
Axis 2 Position command
value
Axis 2 Speed command
value (for position control)
Not used
Linear interpolation deceleration time
Not used
04
03 Axis 4
02 Axis 3
01 Axis 2
00 Axis 1
Interpolation axis designation
Interpolation position designation
(1) When executing interpolation operations using a combination of axes 5 to
8, the interpolation axis designation and interpolation position designa-
tion are made for axes 5 to 8 respectively in the Axis 5 Operating Output
Memory Area, in bits 04 to 07 in the corresponding words in the above
diagram.
(2) Set the acceleration/deceleration curve designation (the S-curve desig-
nation) and the forward/reverse torque designation for each designated
interpolation axis.
MECHATROLINK Communications Settings
Contents
Bits 00 to 07
Communica- Set the communications cycle to a value one greater than the min-
tions cycle imum communications cycle value determined by the number of
connected devices. (Refer to 6-2-3 MECHATROLINK Communica-
tions Settings.)
Acceleration/Deceleration Constants
Parameter name
Acceleration constant 100 command
switching speed units/s
Deceleration constant 100 command
switching speed units/s
Axis 3 Operating Output
Axis 3 Position command
value
Axis 3 Speed command
value (for position control)
15 14 04
Setting
Unit Setting range
Must be set to 0.
Must be set to 0.
Section 9-7
Axis 4 Operating Output
Axis 4 Position command
value
Axis 4 Speed command
value (for position control)
15 14 04
Parameter Default
size setting
2 0
2 0
339