Omron SYSMAC CP Series - Page 509

A-49
Appendices
CP2E CPU Unit Software User’s Manual(W614)
A-1 Instruction Functions
App
A-1-18 High-speed Counter/Pulse
Output Instructions
LINEAR
INTERPOLA-
TION
ITPL @ ITPL(893) outputs a 2 to 4 axes linear interpolation to the specified
port.
C1: Port Specifier
C2: Control Data
Note 1 Use the same pulse output method when using pulse out-
puts 1.
2 2-axes interpolation use 0/1 axes in linear interpolation 0
and 2/3 axes in linear interpolation 1 during pulse output.
3 3-axes interpolation can only be executed in linear inter-
polation 0 and use 0/1/2 axes during pulse output.
4 4-axes interpolation can only be executed in linear inter-
polation 0 only and use 0/1/2/3 axes during pulse output.
5 CP2E N14/20 CPU Units cannot use 3-axes interpolation
or 4-axes interpolation.
Instruction Mnemonic Variations Symbol/Operand Function
C1: Port Specifier
C2: Control Data
S1: First word of settings table
ITPL(893)
C1
C2
S1
0030 hex
Linear interpolation 0 (Only can be used in
CP2E N-type CPU Unit)
0031 hex
Linear interpolation 0 (Only can be used in
CP2E N30/40/60D-)
C2
1
5
12 11 8 7 4 3 0
Always 0 hex.
Relative/absolute specifier
pulses1 hex: Absolute pulses
Pulse output method (See note 1.)
1 hex: Pulse + direction
Specify axis(See note 2,3,4,5.)
0 hex: 2-axes interpolation
1 hex: 3-axes interpolation
2 hex: 4-axes interpolation
S1+6
S1+7
S1+8
S1+9
S1+10
S1+11
S1+12
S1+13
Target position0(L)
Target position0(H)
Target position1(L)
Target position1(H)
Target position2(L)
Target position2(H)
Target position3(L)
Target position3(H)
-2147483648 to +2147483647
(80000000 to 7FFFFFFF Hex)
-2147483648 to +2147483647
(80000000 to 7FFFFFFF Hex)
-2147483648 to +2147483647
(80000000 to 7FFFFFFF Hex)
-2147483648 to +2147483647
(80000000 to 7FFFFFFF Hex)
S1
S1: First word of settings table
15 0
15 0
S1+1
Acceleration rate
Deceleration rate
Specify the increase or decrease in the frequency per pulse control
period (4 ms) in Hz.
1 to 65535Hz
(0001 to FFFF Hex)
S1+2
S1+3
Lower word with target frequency
Upper word with target frequency
Specify the frequency after acceleration in Hz.
1 to 100000Hz
(00000001 to 000186A0 Hex)
S1+4
S1+5
Lower word with startup frequency
Upper word with startup frequency
Specify the frequency during start-up in Hz.
0 to 100000Hz
(00000000 to 000186A0 Hex)