Omron SYSMAC CP2E-E D Series User Manual

12 Pulse Outputs
12-26
CP2E CPU Unit Software User’s Manual(W614)
12-5 Positioning Linear Interpolation
This section describes how to position linear interpolation when using the ITPL instruction.
Linear interpolation can be used only with the CP2E N-type CPU Unit with transistor outputs.
Linear interpolation positioning is performed with the ITPL instruction. The ITPL instruction executes
positioning by using linear interpolation operation to the specified postion.
Positioning by linear interpolation enables higher-speed positioning than single-axis positioning.
• Two linear interpolations can be used for an N14/20 CPU Unit, and up to four linear interpolations can
be used for an N30/40/60 CPU Unit.
• Linear interpolation can be used with absolute coordinates, it cannot be used with relative coordi-
nates.
Execute the ITPL instruction after the origin is defined.
12-5-1 Positioning Linear Interpolation
Two-axis interpolation Three-axis interpolation Four-axis interpolation
Linear interpolation 0 Pulse output 0, 1 Pulse output 0, 1, 2 Pulse output 0, 1, 2,3
Linear interpolation 1 Pulse output 2, 3 --

Omron SYSMAC CP2E-E D Series Specifications

General

Brand	Omron
Model	SYSMAC CP2E-E D Series
Category	Computer Hardware
Language	English