Linear Interpolation; Two-Axis Linear Interpolation - Omron CS1W-213 - REV 02-2008 Operation Manual

Linear Interpolation

INCH command
switch
W03000
Busy Flag
200004
RELATIVE
MOVEMENT
10-4 Linear Interpolation

10-4-1 Two-axis Linear Interpolation

Overview
D00000 and D00001: Inching pulses in CW direction (set positive value)
D00002 and D00003: Inching pulses in CCW direction (set negative value)
200213
Inching
direction
switch
Inching
direction
switch
• Used for carrying out positioning on multiple active axes.
• The only interpolation method available is linear interpolation.
• The positioning sequence for the active axis designates the axes to be
used in interpolation.
Takes the rising
DIFU W03000
edge of the INCH
command switch.
Transfers the number
MOVL
of pulses in the CCW
D00002
direction.
D00508
Transfers the number
MOVL
of pulses in the CW
D00000
direction.
D00508
Speed: 100 pps (64 Hex)
MOVL
#00000064
D00510
MOVL Acceleration time: 0 ms
#00000000
D00512
MOVL Deceleration time: 0 ms
#00000000
D00514
200004 RELATIVE MOVEMENT command
END
Section 10-4
285