Chapter 6 Motion Function Blocks
(1) This motion function block is to give an absolute position linear interpolation command to the axis group specified in
AxesGroup input.
(2) When this motion function block is executed, interpolation control is performed in a linear path from the current position to
the target position of each axis, and the moving direction is decided by the starting point and the target point of each axis.
Beginning position < Target position: Forward direction operation
Beginning position > Target position: Reverse direction operation
(3) In Position input, specify the target position of each axis in the group as matrix. The values in the array and the axis in the
group correspond in the order of[①, ②, … ⑨, ⑩]. (①~⑩ are axis ID in the axis group).
(4) Specify the speed, acceleration, deceleration, and the change rate of acceleration/deceleration of interpolation route in
Velocity, Acceleration, Deceleration, and Jerk inputs respectively.
(5) Velocity is to set the interpolation speed of the axis group, and it indicates the integrated speed of each axis.
Operation speeds of each configuration axis are calculated as follows.
Velocity
the
in
specified
speed
Target (F) speed ionInterpolat =
2
4
2
3
2
2
2
1
SS...SS(S) ++++=amountmovement ion Interpolat
(S)amountmovement ionInterpolat
)(Samountmovement
1 axis
ionConfigurat
(F)
speed ionInterpolat)(V speed 1 axis ionConfigurat
1
1
×=
(S)amountmovement
ionInterpolat
)(Samount movement 2 axis ionConfigurat
(F)speed ionInterpolat)(V speed 2 axis ionConfigurat
2
2
×=
(S)amountmovement
ionInterpolat
)(Samountmovement 3 axis ionConfigurat
(F)speed ionInterpolat)(V speed 3 axis ionConfigurat
3
3
×=
(S)amountmovement ionInterpolat
)(Samountmovement 4 axis ionConfigurat
(F)speed ionInterpolat)(V speed 4 axis ionConfigurat
4
4
×=
(6) Refer to chapter 8.2.6 linear interpolation control part in motion controller’s manual for more details.
(7) The changed parameters can be applied by re-executing the function block (Execute input is On) before the command is
completed. Only Velocity, Acceleration, Deceleration, Jerk, Position input can be updated.
(8) Velocity input can be set to 0 or changed.
(9) Example program
This example shows the linear interpolation to the target position (10000, 1000) when the current command position is
(1000, 4000).
To Next Page
Loading...
