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6. APPLICATION FUNCTIONS
In the example above, the current command position of the axis 1 exceeds the new position. The following
formulas provide the approximate calculation of the excessive travel distance (excessive position amount).
Deceleration quantity [speed unit/s] = Linear interpolation speed limit [speed unit]
Deceleration time constant [ms]
1000
Deceleration time [s] = Vector speed [speed unit]
Deceleration quantity
Vector travel distance [command unit] =
(Axis 1 travel distance[command unit])
2
+ (Axis 2 travel distance[command unit])
2
Axis 1 moving speed [speed unit] = Axis 1 travel distance [command unit]
Vector travel distance
Vector speed [speed unit]
Axis 1 excessive position amount [command unit]
Axis 1 moving speed
Axis 1 speed units multiplication factor
Deceleration time
2
Note. The same feature is applied to linear interpolation for more than 3 axes.
(4) When position change error occurs
During the following cases, the "position change error signal" (PCE) turns on, and the position will not
change.
• Operation stop
• JOG operation, home position return, home position reset
• Deceleration due to stop command, rapid stop command, alarm etc.
• The specified value is out of the software limit setting value.
• A position change command is input to an auxiliary axis in linear interpolation.