ASDA-M Chapter 7 Motion Control
Revision December, 2014 7-21
Grade
7 6 5 4 3 2 1 0
Percentage 45% 40% 35% 30% 25% 20% 10% 0%
Grade
F E D C B A 9 8
Percentage 100% 90% 80% 75% 70% 65% 55% 50%
SEL: 0~3, axis selection
SELECT
Code
3 2 1 0
Axis
selection
ZX ZY YX ZYX
0: Multi-axis linear interpolation
1: XY two-axis linear interpolation
2: YZ two-axis linear interpolation
3: XZ two-axis linear interpolation
Command source: P6-02~P7-99 of the first axis, parameter DW1 (DATA-32BIT), 99 PR in
total.
31 ~ 0 BIT
DW1 DATA(32 bit)
Command source: P6-02~P7-99 of the second axis, parameter DW1 (DATA-32BIT), 99 PR
in total.
31 ~ 0 BIT
DW1 DATA(32 bit)
Command source: P6-02~P7-99 of the third axis, parameter DW1 (DATA-32BIT), 99 PR in
total.
31 ~ 0 BIT
DW1 DATA(32 bit)
Note: 1. When the first axis is triggered, the servo drive will conduct linear interpolation
according to DW0 of the first axis; when the second axis is triggered, the servo
drive will refer to DW0 of the second axis, and so on.
2. Take XY two-axis linear interpolation as example, the common setting is that
settings of SEL, OVLP, DLY, VSPD, VDEC, VACC, OPT, and TYPE of X and
Y-axis are identical. DW1 of X-axis is set to position command of X-axis and
DW1 of Y-axis is set to position command of Y-axis. After setting is completed,
PR of X-axis and PR of Y-axis can be triggered to conduct linear interpolation.
3. For more flexible applications, users can define the value of DW0 of each axis.
Take XY two-axis linear interpolation for example:
To instantly move any of the axes (such as X-axis) when linear interpolation, by
setting the incremental position of Y-axis to 0 and triggering X-axis to conduct
linear interpolation, X-axis will move according to the settings of OVLP, DLY,
VSPD, VDEC, VACC, OPT of X-axis (because incremental position of Y-axis is
To Next Page
Loading...
Need help?
General
