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The real travel speed of interpolation is variable, as it is rely

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The real travel speed of interpolation is variable, as it is rely

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									                  ANA-DIGI SYSTEMS                                       AN-01-01-01
                                                                      Written by: Mornay Steyl
                                                                      Tested by: Mornay Steyl
                       APM Speed                                         _______________
                                                                             Rev.: 01
                                                                         Date: 02/07/2009


The real travel speed of interpolation is variable, as it is reliant on the speed value of
master axis of the control axes


What is the master axis of linear interpolation?
1. Basically Master axis is not defined by user’s mind
  In other words, master axis is assigned automatically, depends on the travel distance, an axis
  is assigned to be master axis, which has the longest travel distance


Example 1 )
Condition : We control the two axes in linear interpolation method, move an object from origin
point(0,0) to target point(100, 150)
Parameter :
           Axis           ….           Address(m)               ….         Speed(mm/min)
              X           ….             100000.0                ….             2000.00
              Y           ….             150000.0                ….             1000.00


In example(1) Y axis has longer travel distance than which of X axis, so Y axis is defined as a
master axis, X axis is assigned the slave, the speed of master is same to the set value but the
slave speed is recalculated, so the slave speed is not match with set value




                                            Page 1 of 5
                    ANA-DIGI SYSTEMS                                     AN-01-01-01
                                                                      Written by: Mornay Steyl
                                                                      Tested by: Mornay Steyl
                          APM Speed                                      _______________
                                                                             Rev.: 01
                                                                         Date: 02/07/2009


Track :



          Y axis


          150mm                                              * Y axis speed(Master axis)
                                                               = same to set value = 1000mm/min
                                                             * X axis speed(Slave axis)

          100mm                                                = (Speed of master axis) * ( Travel
                                                                  distance of slave / Travel distance of
                                                                   master)

           50mm                                               Recalculated speed of X axis
                                                               = (1000mm/min) * ( 100mm / 150mm)
                                                               = 666.67mm/min

            0mm
                    0mm          50mm                100mm            150mm        X axis


                    Travel speed = 666.76mm/min.
                    Travel Time = 9sec.




Example 2 )
Condition : We control the two axes in linear interpolation method, move an object from idle
point(100,200) to target point(300, 250)
Parameter :
             Axis          ….         Address(m)                ….          Speed(mm/min)
              X            ….             300000.0               ….             2000.00
              Y            ….             250000.0               ….             1000.00


In example (2) X axis has longer travel distance(200) than which of Y axis, so X axis is defined
as a master axis, Y axis is assigned the slave, the speed of master is same to the set value but
the slave speed is recalculated, so the slave speed is not match with set value




                                            Page 2 of 5
                   ANA-DIGI SYSTEMS                                      AN-01-01-01
                                                                    Written by: Mornay Steyl
                                                                    Tested by: Mornay Steyl
                         APM Speed                                       _______________
                                                                             Rev.: 01
                                                                         Date: 02/07/2009




Track :

                                                          * X axis speed(Master axis)
                                                            = same to set value = 2000mm/min

          Y axis                                          * Y axis speed(Slave axis)
                                                            = (Speed of master axis) * ( Travel distance

          250mm                                                of slave / Travel distance of

          200mm                                                master)
                                                           Recalculated speed of Y axis

          100mm                                             = (2000mm/min) * ( 50mm / 200mm)
                                                            = 500mm/min

           0mm
                   0mm       100mm       200mm     300mm        X axis


                   Travel speed = 2000mm/min.
                   Travel Time = 6sec.
Remarks


1. In case, you set the value of each speed parameter in large gap, then the interpolation speed
can be changed hugely by changed the master axis


1) We make linear interpolation control to meet with the next moving trace


          Y axis                                              (450mm,250mm)
                                                                   B
                   (50mm,200mm)
                         A




   (0mm,0mm)                                                                      X axis
                    T1                      T2




   If we set speed value 100mm/m to X axis, and 2000mm/min to Y axis

                                            Page 3 of 5
                ANA-DIGI SYSTEMS                                      AN-01-01-01
                                                                   Written by: Mornay Steyl
                                                                   Tested by: Mornay Steyl
                        APM Speed                                    _______________
                                                                         Rev.: 01
                                                                     Date: 02/07/2009


  * First positioning
   In this range, Y axis is master axis, an object move to vertical direction at 2000mm/min
   So, it takes 6 sec to move 0mm to 200mm for Y axis,
    The speed of X axis is Change to the new one to change its position( 0 -> 50mm) for 6sec
    So the speed of horizontal is calculated to 500mm/min, which is not same the our set
    value(100mm/min)
   Time to complete first interpolation(T1) is 6 seconds


* Second positioning
    In this range, X axis is master axis: the travel distance of X axis is eight times longer than
    that of Y axis, an object move to horizontal direction at 100mm/min
    So, it takes 240 seconds( 4 minutes)to move 50mm to 450mm for X axis,
    The speed of Y axis is Change to the new one to change its position( 200 -> 250mm) for
    240 seconds
    So the speed of horizontal is calculated to 12.5mm/min, which is not same the our set
    value(2000mm/min)
    Time to complete second interpolation(T2) is 240 seconds
    It is may be much longer time than our expect operation time




2) If we set the same time to X, Y axis and makes same operation as to the above sample
  The speed of each axis is 2000mm/min



         Y axis                                                (450mm,250mm)
                                                                    B
                  (50mm,200mm)
                        A




     (0mm,0mm)                                                                    X axis
                   T1                       T2




                                          Page 4 of 5
                ANA-DIGI SYSTEMS                                      AN-01-01-01
                                                                   Written by: Mornay Steyl
                                                                   Tested by: Mornay Steyl
                      APM Speed                                      _______________
                                                                         Rev.: 01
                                                                     Date: 02/07/2009


* First positioning
   In this range, Y axis is master axis, an object move to vertical direction at 2000mm/min
   So, it takes 6 sec to move 0mm to 200mm for Y axis,
    The speed of X axis is Change to the new one to change its position( 0 -> 50mm) for 6sec
    So the speed of horizontal is calculated to 500mm/min, which is not same the our set
    value(100mm/min)
   Time to complete first interpolation(T1) is 6 seconds


* Second positioning
    In this range, X axis is master axis: the travel distance of X axis is eight times longer than
    that of Y axis, an object move to horizontal direction at 2000mm/min
    So, it takes 12 seconds to move 50mm to 450mm for X axis,
    The speed of Y axis is Change to the new one to change its position( 200 -> 250mm) for
    12seconds,so the speed of vertical is calculated to 250mm/min,
    Time to complete second interpolation(T2) is 12 seconds




                                          Page 5 of 5

								
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