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4 The Interpolation
22
Fig. 4.1-1
4 The Interpolation
4.1 Positioning (G00)
The series of instructions
G00 v
refers to a positioning in the current coordinate system.
It moves to the coordinate v. Designation v (vector) refers here (and hereinafter) to all controlled
axes used on the machine-tool. (They may be X, Y, Z, U, V, W, A, B, C)
The positioning is accomplished along a straight line involving the simultaneous movements of all axes
specified in the block. The coordinates may be absolute or incremental data.
The speed of positioning cannot be commanded in
the program because it is accomplished with
different values for each axis, set by the builder of
machine-tool as a parameter. When several axes
are being moved at a time, the vectorial resultant of
speed is computed by the control system in such a
way that positioning is completed in a minimum
interval of time, and the speed will not exceed
anywhere the rapid traverse parameter set for each
axis.
In executing the G00 instruction, the control system
performs acceleration and declaration in starting
and ending the movements, respectively. On completion of the movement, the control will check the
"in position" signal when parameter POSCHECK in the field of parameters is 1, or will not do so
when the parameter is set to 0. It will wait for the "in position" signal for 5 seconds, unless the signal
arrives, the control will return the 1020 POSITION ERROR message. The maximum acceptable
deviation from the position can be specified in parameter INPOS.
Being a modal code, G00 remains effective until it is re-written by another interpolation command.
After power-on, G00 or G01 is effective, depending on the value set in parameter group CODES of
the parameter field.
4.2 Linear Interpolation (G01)
The series of instructions
G01 v F
will select a linear interpolation mode. The data written for v may be absolute or incremental values,
interpreted in the current coordinate system. The speed of motion (the feed) can be programmed at
address F.
The feed programmed at address F will be accomplished invariably along the programmed path. Its
axial components:
Feed along the axis X is