Linear Interpolation: Type 0
(Original Document)
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At a Glance
This type of interpolation can be used to generate a rectilinear trajectory between the previous point and the point defining the segment.
The major problem with this type of interpolation lies in the fact that a series of segments of this type may define broken lines and therefore impose mechanical and electrical restrictions on the devices being controlled (sudden variations in speed, for example). The only way to reduce these restrictions is to reduce the speed of movement or to stop at each point in the table. However, this type of segment may be suitable for transitional movements, for repositioning or in the event of maintenance work.
Block Parameters
The table below indicates the parameters to be entered in the trajectory table for this type of segment:
Parameter
Description
ParW0
Enter 0 to indicate that the type of interpolation to be used is linear interpolation.
ParW1
Indicate the number of points in the linear segment in this parameter. This number of points (minimum 1) represents the number of intermediate points that the module has to calculate in order to define the trajectory on the segment. The TSX CSY 85 module defines these points then calculates a linear interpolation between them in order to determine the position that will be sent to the drives every 4 ms.
With linear interpolation, simply put the minimum value: 1.
ParW4
For this type of segment, only tangent mode can be used, but only if a third axis is being used for a 3-dimensional movement.
Note: Tangent mode (bit 8 at 1) will be available in a later version of the TjE/TSX CSY 85 combination, but for the moment only angular positioning of the third Z axis is supported.
For a movement on two axes, enter the value 0.
Error Codes
When this type of segment is used, the error codes that can be returned in word %MDr.m.c.3 are as follows:
Code
Description
9504
The table contains two consecutive identical points.
9515
The number of points in the segment is set to 0.