Omron GRT1-ML2 Hardware Reference Manual page 18

System philosophy
Linear interpolation
In applications it can be required for a set of motors to perform a move fig. 7
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
2
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
1
taken from the corresponding parameters of the base axis. The MOVE
command computes the various components of speed demand per axis.
3
A is the time axis, B is the speed axis.
B
A
HARDWARE REFERENCE MANUAL 13