P2: Positioning axes
10.3 Motion behavior and interpolation functions
Extended Functions
Function Manual, 03/2013, 6FC5397-1BP40-3BA1
607
Linear interpolation is always performed in the following cases:
● For a G-code combination with
G0 that does not allow positioning axis motion, e.g.:
G40, G41, G42, G96, G961 and MD20750 $MC_ALLOW_G0_IN_G96 == FALSE
● With a combination of
G0 with G64
● When a compressor or transformation is active
● In point-to-point (PTP) travel mode
● When a contour handwheel is selected (FD=0)
● In case of an active frame with rotation of geometry axes
● If nibbling is active for geometry axes
Non-linear interpolation
Properties:
● Each path axis interpolates as a single axis (positioning axis) independently of the other
axes at the rapid traverse velocity defined in the following machine data:
MD32000 $MA_MAX_AX_VELO
● The channel-specific delete distance-to-go command via the PLC and synchronized
actions is applied to all positioning axes that were programmed as path axes.
In non-linear interpolation, with reference to the axial jerk:
● The setting of the concerned positioning axes BRISKA, SOFTA, DRIVEA
or
● The setting in the machine data:
MD32420 $MA_JOG_AND_POS_JERK_ENABLE
and
MD32430 $MA_JOG_AND_POS_MAX_JERK
The existing system variables which refer to the distance-to-go ($AC_PATH, $AC_PLTBB
and $AC_PLTEB) are supported.
CAUTION
Risk of collision
As traversal of another contour is possible with non-linear interpolation, synchronized
actions that refer to coordinates of the original path may not be active.
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