Chapter 5 Positioning Instructions
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(d) Program Operation
•At the rising edge of the ‘Interpolation Start-up’ used as the linear interpolation start-up reference
signal, the APM_LIN instruction is executed. If X-axis is in operation or error condition, it is not
executed. If Y-axis is in operation, error code 242 is outputted to STAT_1 and operation is not
performed.
1) When linear interpolation instruction (APM_LIN) is executed, linear interpolation
operation is carried out as set up in the instruction operand as set forth below.
2) Since the BASE and SLOT are 0, the internal positioning of the base unit performs
linear interpolation operation.
3) Since the STEP operation step No. was set to 10, main and sub-axes are automatically selected
with the No. 10 operation data of the X-axis and Y-axis. In this example, since the target
position of the X-axis is larger, X-axis becomes the main the Y-axis becomes the sub-axis.
4) Here, the velocity and the accelerating and decelerating times of the sub-axis Y do not follow
the set up values but automatically calculated for operation.
5) in particular, with the APM_LIN instruction, the X-axis and Y-axis become main and sub-axes,
respectively, and travels by (7000, 2000) in elative position basis before operation stopped.
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