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Chapter 5 Data Used for Positioning Control
[Pr.19] Speed switching mode
Set whether to switch the speed switching mode with the standard switching or
front-loading switching mode.
0 : Standard switching .............. Switch the speed when executing the next
positioning data.
1 : Front-loading switching ........ The speed switches at the end of the positioning
data currently being executed.
t
n
n+1
Switch the speed when
executing the next positioning data
Velocity
n: Positioning
data No.
<For standard switching>
<For front-loading switching>
The next positioning data starts
positioning at the designated speed
t
nn+1
Velocity
[Pr.20] Interpolation speed designation method
When carrying out linear interpolation/circular interpolation, set whether to
designate the composite speed or reference axis speed.
0: Composite speed .................. The movement speed for the control target is
designated, and the speed for each axis is
calculated by the Simple Motion module.
1: Reference axis speed ........... The axis speed set for the reference axis is
designated, and the speed for the other axis
carrying out interpolation is calculated by the
Simple Motion module.
X axis
Y axis
Designate composite speed
Calculated by Simple Motion module
<When composite speed is designated>
Designate speed
for reference axis
<When reference axis speed is designated>
X axis
Y axis
Calculated by Simple Motion module
Note: Always specify the reference axis speed if the 4-axis linear interpolation or 2 to 4 axis
speed control has to be performed.
If you specify the composite speed for a positioning operation that involves the 4-axis
linear interpolation or 2 to 4 axis speed control, the error "Interpolation mode error"
(error code: 523) will occur when the positioning operation is attempted.
For a positioning operation that involves the circular interpolation, specify the composite
speed always.