Emotiontek MCU 2 Axis - Page 44

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Chapter 2. MC Programming
30) ICW, ICCW
Input type ICW <P variable 1> <P variable 2> , ICCW <P variable 1> <P variable 2>
Terminology <P variable>: Set the variable for a position from the Position Table.(P0 ~ P99)
Related
variable
P variable, L variable
Related
command
A,D,VEL
Parameter Maximum velocity(P18), acceleration or deceleration time(P23), deceleration time(P65), I, J arc
commanding method(P61)
Explanation Move by arc interpolation from the current position to the commanded incremented position at the
commanded velocity and Acceleration or deceleration time.
If the“
basic parameter P61 I, J arc commanding method” is disabled, then the X-axis value of <P
variable 2> is regarded as its radius.
However, if the “
basic parameter P61 I, J arc commanding method” is enabled, then it is
regarded as an I, J circle center commanding method, not a radius. In this case, the X-axis of the
second P variable corresponds to I, and the Y-axis corresponds to J.
I, J are vector components seen from the arc start point to the center, and are always commanded as
increments.
Example of
use
ICW P0 P1
ICCW P0 P1
ICW PL0 PL1
ICCW PL0 PL1
Example VEL 0
MOV P0
VEL 1
ICCW P1 P2
 P0: Arc interpolation start point(0.000, 0.000)
 P1: Arc interpolation end point, P2: Arc center command
*If
basic parameter P61 is disabled- P1:20.000, 20.000 P2:20.000, ?????
*If
basic parameter P61 is enabled- P1:20.000, 20.000 P2:0.000, 20.000
Fig.2.26 Increment position arc interpolation function
20.000
20.000
R= 20.000
+X
+Y