LSIS XGT Series - Page 416

Chapter 8 Motion Control Function
8-25
Speed of each-axis and operating speed are as follows.
aositiondatpeedsetinpOperationsFinspeedInterpolat )(
2
10
2
2
2
1
...)( SSSSmountingmovingaInterpolat 
)(
)(
)()(1
1
1
SmountingmovingaInterpolat
SamountaxismovingMain
FingspeedInterpolatVspeedAxis 
)(
)(1
)()( speed 2
2
2
SmountingmovingaInterpolat
SntmovingamouaxisSub
FingspeedInterpolatVAxis


)(
)(2
)()( speed 10
10
10
SmountingmovingaInterpolat
SntmovingamouaxisSub
FingspeedInterpolatVAxis


(5) Relevant motion function block
Name
Description
Operation Condition
MC_MoveLinearAbsolute
Absolute positioning linear
interpolation operation
Edge
MC_MoveLinearAbsolute
Done
Execute
AxesGroup
AxesGroup
BOOLBOOL
UINT UINT
LREAL[ ] Position
LREAL Velocity
Busy
BOOL
CommandAborted
BOOL
Error
BOOL
ErrorID
WORD
LREAL Acceleration
Active
BOOL
LREAL Deceleration
LREAL Jerk
UINT BufferMode
UINT TransitionMode
LREAL TransitionParameter
(6) Restrictions
Linear interpolation by absolute coordinate system cannot be executed in the following cases.
• In case there is an axis which is in the origin indetermination state among configuration axes (error code: 0x2090)
• In case the operation speed of configuration axis exceeds the speed limit of each axis (error code: 0x2091)
• In case there is an axis in infinite running repetition operation among configuration axes (error code: 0x2094)