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6 POSITIONING CONTROL
6.1.2 Positioning speed at the interpolation control
The positioning speed of the Motion CPU sets the travel speed of the control system.
(1) 1 axis linear control
Travel speed is the positioning speed of the specified axis at the 1 axis
positioning control.
(2) Linear interpolation control
Positioning is controlled with the speed which had the control system specified at
the interpolation control.
The positioning speed can be set using one of the following three methods at the
2 to 4 axes linear interpolation control:
• Combined-speed specification
• Long-axis speed specification
• Reference-axis speed specification
Control method of the Motion CPU control for every specified method is shown
below.
(a) Combined-speed specification
The Motion CPU calculates the positioning speed of each axis (V
1 to V2)
using the travel value (D
1 to D4) of each axis based on the positioning speed
(V) of the setting control system.
Positioning speed of the control system is called the combined-speed.
Set the combined-speed and the travel value of each axis in the servo
program.
2 axes linear interpolation control is shown below.
Axis 1
Axis 2
(10000, 15000)
V
V
1
V
2
0
0
Axis 1 travel value: D1 = 10000[PLS]
Axis 2 travel value: D
2 = 15000[PLS]
Combined speed: V = 7000[PLS/s]
[Program example]
[PLS]
[PLS]
[PLS/s]
<K 50>
ABS-2
Axis
Axis
Combined-speed
1,
2,
10000
15000
7000
The Motion CPU calculates the positioning speed of each axis using the following
calculation formulas in the above condition:
V = V D / D + D1 11
22
2Axis 1 positioning speed :
V = V D / D + D
2 21
22
2
Axis 2 positioning speed :
Example