(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.
QWn+22
IWm+22
(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*
(When the maximum speed setting parameter*
lead length is 20mm.)
(Example)
Transmission example 1:
It moves to the P123 position at the speed 20% in the linear inter-
polation mode.
Response example 1:
It is normally ended.
Response example 2:
The software limit over occurs.
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
Command option
QWn+20
QWn+18
Command response
IWm+20
IWm+18
QWn+22
QWn+20
QWn+18
0000
0000
0000
IWm+22
IWm+20
IWm+18
0000
11CB
0000
IWm+22
IWm+20
IWm+18
0000
0000
0000
97
CHAPTER2 PROFIBUS Unit
QWn+16
QWn+14
Speed
Point number
IWm+16
IWm+14
1
is 100, 100=1000mm/s is established.
QWn+16
QWn+14
QWn+12
0014
007B
0000
IWm+16
IWm+14
IWm+12
13AD
0000
0000
IWm+16
IWm+14
IWm+12
0000
0000
0000
QWn+12
Axis
IWm+12
2
is 3000, and the
QWn+10
QWn+8
0000
011F
IWm+10
IWm+8
0000
0200
IWm+10
IWm+8
0000
401E