COTRUST CTH200 Series User Manual

Appendix
230
If the PTP instruction run at the maximum acceleration, call MC_SET_MAX_ACCELE instruction
on the coaxes to set the maximum acceleration (the parameter TA of MC_SET_MAX_ACCELE
instruction cannot be 0, otherwise cannot obtain the maximum acceleration), and simultaneously
set the parameter TA of PTP instruction to 0.
If the maximum acceleration is not set and the PTP instruction TA=0, the alarm parameter fails
on the PTP instruction. (Same for MC_LINE_R and MC_CIRCLE_R)
Note: For the biaxial instructions MC_LINE_R and MC_CIRCLE_R, if both set the maximum
acceleration, the smaller one will be taken as the maximum acceleration of the biaxial system. If
only one axis is set with the maximum acceleration, then take it as the maximum acceleration of
the biaxial system. If the maximum acceleration is not set on both axes, the biaxial system has
no limitation for acceleration.
Also: After MAX_SPEED, TA, AXIS_NO have been determined, give SET a rising edge, so these
parameters are updated and effective.
Set continuous interpolation instruction
① Function name: MC_SET_CI_MODE
② Function: set if enable continuous interpolation function
③ Parameter
Name
I/O
Description
Type
Value
range
Note
ENABLE
IN
0: Turn off continuous
interpolation
1: Enable continuous
interpolation
Bool
0~1
Do not modify in
continuous
interpolation
process
④ Explanation
When need continuous interpolation function, call this instruction in PLC program first to activate
the continuous interpolation function, and then call each interpolation instruction successively
according to the trajectory sequence. Similarly, the RUN bit of each instruction must be activated
according to the trajectory sequence. If not call this instruction, default as discontinuous
interpolation movement.
Note
Note1: When one axis call the motion control instruction, the function of recovering
normal IO can be restored only when the axis is reenergized and reset or the CPU is
stopped.
Note2: Calculation of line interpolation instruction(A_POS, B_POS), circular interpolation
(A_END_POS, B_END_POS, RADIUS):
POS-------Pulses needed in interpolation instruction;

COTRUST CTH200 Series Specifications

General

Brand	COTRUST
Model	CTH200 Series
Category	Controller
Language	English