Rockwell Automation GMLC Reference Manual User Manual
Page 278
Publication GMLC-5.2 - November 1999
Interpolate Axes
241
After successfully executing an Interpolate Axes block with Merge from
Previous Segment selected, Merge_status_Interp0 or
Merge_status_Interp1 = 1 (depending on the selected interpolator) and
the merged motion is pending. When the currently executing interpolated
motion is done, Merge_status_Interp0 or Merge_status_Interp1 = 0. For
example, the figure below shows the operation of the interpolator status
and merge status variables when a two-axis linear move is merged into
another two-axis linear move at the same speed.
The dotted line in the motion profiles above shows where Segment N
would have ended if it had not been merged into Segment N+1.
X Axis Velocity
Y Axis Velocity
Time
Time
Interpolation
Done
Interp_status
Merge_status
Interpolator Interpolating
Interpolate Axes
Block with Merge…
Selected Executed
Segment N
Segment N+1
Merging
Done
Merge
Pending
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