User`s manual

97
CHAPTER2 PROFIBUS Unit
(31) Linear interpolation movement execution ........................... Code 011F
It moves to the position of the data of the specified point number in the linear
interpolation mode.
Command option
QWn+22
QWn+20 QWn+18 QWn+16
QWn+14 QWn+12
Speed
Point number Axis
Command response
IWm+22
IWm+20 IWm+18 IWm+16
IWm+14 IWm+12
(Details)
Axis: In the linear interpolation movement, 0: All axes alone can be as-
signed.
Point number: It is the inherent number which is assigned to a total of 1000 points
of 0 to 999. To specify the point variable P, register 4095 (=0FFF
(hexadecimal)).
Speed: It can be set at 100 steps of 1 to 100, and when the program execu-
tion speed parameter*
1
is 100, 100=1000mm/s is established.
(When the maximum speed setting parameter*
2
is 3000, and the
lead length is 20mm.)
(Example)
Transmission example 1:
It moves to the P123 position at the speed 20% in the linear inter-
polation mode.
QWn+22
QWn+20 QWn+18 QWn+16
QWn+14 QWn+12
QWn+10
QWn+8
0000
0000 0000
0014
007B 0000
0000 011F
Response example 1:
It is normally ended.
IWm+22
IWm+20 IWm+18 IWm+16
IWm+14 IWm+12
IWm+10
IWm+8
0000
11CB 0000
13AD
0000 0000
0000 0200
Response example 2:
The software limit over occurs.
IWm+22
IWm+20 IWm+18 IWm+16
IWm+14 IWm+12
IWm+10
IWm+8
0000
0000 0000
0000
0000 0000
0000 401E
!
CAUTION
This command is invalid for single-axis controllers.
!
CAUTION
The SCARA robot, etc. which do not operate in the cartesian coordinates cannot
be moved in the linear interpolation mode.
*1: Single-axis controllers: PRM30, dual-axis controllers: PRM17
*2: Single-axis controllers: PRM44, dual-axis controllers: PRM64 and PRM104