Rockwell Automation GMLC Reference Manual - Manual (Page 257)

Publication GMLC-5.2 - November 1999
220 Motion Blocks
Interpolate Axes
Use the Interpolate Axes block (for motion controllers with i CODE version
3.0 or later) to move a group of two or more servo axes:
•
to a specified absolute position or by a specified incremental distance
• along a specified linear, circular, or helical path
• at a specified speed
• at a specified rate of acceleration and deceleration
• using a selected motion profile
You can move up to four axes simultaneously using linear interpolation.
You can move two axes with circular interpolation, and up to three axes
with helical interpolation.
The Interpolate Axes block resides on the Advance Motion Palette.
The Interpolate Axes function block parameters vary, depending upon
which type of interpolated motion you select. There are four interpolated
motion types:
• Linear
• Radius Arc
• Intermediate Arc
• Helical
The parameters for each type of motion are set forth and discussed later in
this section.
While an interpolated move is in progress:
• Interp0_status or Interp1_status = 1 (true) depending on the selected
interpolator
• Axis_status
≤
5 for each selected axis if no faults are active on the
axis.
When the interpolated move is done: