Rockwell Automation GMLC Reference Manual - Manual (Page 259)

Publication GMLC-5.2 - November 1999
222 Motion Blocks
Like all other high-level motion functions in the motion controller, the
interpolator outputs only contribute to the command position of each axis.
Thus, other types of motion (gearing, cams, etc.) can be added to the
interpolated motion for special applications. In addition, the two
interpolators may be used concurrently with the same or different axes to
combine two interpolated motions on a set of axes.
Linear Interpolation
When you select Linear from the Type menu, the selected axes move the
specified distances (in Incremental mode) or move to the specified
destination positions (in Absolute mode).
For example, the Interpolate Axes parameters shown below, use
Interpolator 0 to move Axis 0 to absolute position 10 (position units) and
Axis 1 to absolute position –10 (position units) at the current 100%
velocity using the current 100% acceleration and deceleration values.
Interpolator 0
Interpolator 1
Axis 0 Command Position
Axis1 Command Position
Axis 2 Command Position
Axis 3 Command Position
Imaginary Axis Command Position
Axis 0 Command Position
Axis1 Command Position
Axis 2 Command Position
Axis 3 Command Position
Imaginary Axis Command Position