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8. TANDEM DRIVE
8.4.5 Linear interpolation during tandem drive
When performing linear interpolation operation, it is necessary to group the axes for which linear interpolation
is to be set up. The groups are set up using linear interpolation group (parameter No.0260) and the master axis
is the only one set up when in tandem drive axis operation. For other types of movement, normal axis
movement is followed. (Refer to Section 5.4)
POINT
When performing linear interpolation operation, limit the total number of axes
to 4, including slave axes. If the total number of axes exceeds 4, the linear
interpolation start up error (operation alarm 40, detail 02) occurs upon start of
operation.
The following is a system configuration set up example.
Position board
YA1
(master)
YA2
(slave)
Tandem drive
group 1
XB1
(master)
XB2
(slave)
Tandem drive
group 2
YB1
(master)
YB2
(slave)
Tandem drive
group 1
Axis 2 Axis 3 Axis 4 Axis 5 Axis 6 Axis 7Axis 1
XA
Linear interpolation group 2Linear interpolation group 1
Axis
number
1
2
3
4
5
6
7
1
11
1
2
2
0
0
0
2
2
XA
YA1
YA2
XB2
XB1
YB1
3
YB2 0 3
The group number of the slave axis is set to the same
number of the master axis independent of its setting.
Axis
name
Linear interpolation group
(parameter No.0260)
Tandem drive group
(parameter No.0264)
(1) Synchronous mode
When linear interpolation operation is entered while in synchronous mode, master axis data and signals are
used. Also, the master axis table is used for the point table.
Important data classifications related to linear interpolation operation during synchronous mode are shown
in the following table. For other related data, refer to Section 10.6.
Type
Items for which only item associated
with master is valid
Items defined for each axis
Command signal/data Linear interpolation mode (LIP)
Start operation (ST)
Start point number
End point number
(Point table)
None
Status signal In linear interpolation mode (LIPO)
During operation (OP)
During smoothing of stopping (SMZ)
Positioning complete (PF)
Rough match (CPO)
In-position (INP)
Position switch (PSW)