Rockwell Automation GMLC Reference Manual - Manual (Page 258)

Publication GMLC-5.2 - November 1999
Interpolate Axes 221
• Interp0_status or Interp1_status = 0 (false).
See the Axis Locked and Axis Done Conditions chapter in this manual for
more information on axis status during interpolation. See the System
Variables chapter in this manual for more information on variables.
Profile
The vector acceleration and deceleration of interpolated moves can be
either a trapezoidal or an S-curve profile. The S-curve profile selection is
available only on controllers using iCODE versions 3.6 or higher.
The deceleration rate is always the same as the acceleration rate and
cannot be changed while the interpolated move is in progress.
Interpolated moves work best when all axes use the same position units.
Important: Before executing an interpolated move, be sure to set all axes
to the same Transducer Resolution Conversion Constant
(expressed in counts per axis units), in the Feedback page of
the Configure Axis Use dialog box.
Interpolators
The motion controller provides two separate interpolators (Interpolator 0
and Interpolator 1) which are used by the Interpolate Axes block for
moving groups of axes together. Each interpolator has five outputs—one
for each of the four possible physical axes and one for the imaginary axis
on the motion controller, as shown below.