Installation manual

Chapter 3. CONTROL MODE
３－7
３．３ Axis Angle Interpolation
Here is the explanation for each axis angle control in the trajectory control mode.
Each axis angle control
＜
Input value＞
target angle（θr
Ｓ１
，θr
Ｓ２
，･･θr
Ｗ2
）
＜
Calculation＞
① Calculate deviation angle and subtract the current value from the target one,
at each axis.
Δθ
S1
θr
S1
- θc
S1
Δθ
S2
＝ θr
S2
- θc
S2
: :
Δθ
W2
θr
W2
- θc
W2
②
From the calculation, dividing each axis deviation by each axis default
velocity, the axis, obtaining the biggest shifting time, is defined as the basic axis
of interpolation.
ΔT
S1
Δθ
S1
/ V
S1
ΔT
S2
＝ Δθ
S2
/ V
S2
: :
ΔT
W2
Δθ
W2
/ V
W2
The axis obtained the biggest ΔＴ
ｉ
。is defined as the standard of interpolation.
③ Calculate each axis command angle on the basis of the interpolation basic axis
deviation
（Δθ
ｉ
）. In the interpolation method, calculate the target trajectory
( command angle ) to control the velocity to form the letter “S” shape.
For the velocity control, refer to the section 3.5.
.
R
R
e
e
f
f
e
e
r
r
e
e
n
n
c
c
e
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