09-15-2011, 07:55 AM

Hello, everyone

I am doing a circular interpolation under LINEAR mode

I divide the radius angle by N so I have a constant move segment time

then I compute each point on the circle and give them to the X and Y axis

I read in the user manual that: PMAC will blend between the segment

so if N is large enough the velocity of each axis will change smoothly

but I did not get the expected result

the shape of axis velocity looks like many peaks

can you tell me how should I set PMAC to make the move blend?

Here are my motion program:

***********************************

&1

CLOSE

UNDEFINE ALL

#1->X

#2->Y

;****** Motion Program Text *******

OPEN PROG 1 CLEAR

abs

P1=2000 ;radius

P2=1000 ;divide central angle by N

P3=3.1415926 ;Pi

P4=0.32*P3 ;angular speed

P5=1000*2*P3/P4 ;total move time

P6=P5/P2 ; time between the interpolation points

P11=0 ;loop counts

LINEAR

TM 100

X 0 Y 0

DWELL 500

While (P11 < P2+1)

P21=2*P3*P11/P2 ;central angle

P22=P1*(1-cos(P21*180/p3));

P23=P1*(sin(P21*180/p3));

P24=P4*P1*sin(P21*180/p3);

P25=P4*P1*cos(P21*180/p3);

TM(P6)

X (P22) Y (P23)

P11=P11+1

EndWhile

CLOSE

I am doing a circular interpolation under LINEAR mode

I divide the radius angle by N so I have a constant move segment time

then I compute each point on the circle and give them to the X and Y axis

I read in the user manual that: PMAC will blend between the segment

so if N is large enough the velocity of each axis will change smoothly

but I did not get the expected result

the shape of axis velocity looks like many peaks

can you tell me how should I set PMAC to make the move blend?

Here are my motion program:

***********************************

&1

CLOSE

UNDEFINE ALL

#1->X

#2->Y

;****** Motion Program Text *******

OPEN PROG 1 CLEAR

abs

P1=2000 ;radius

P2=1000 ;divide central angle by N

P3=3.1415926 ;Pi

P4=0.32*P3 ;angular speed

P5=1000*2*P3/P4 ;total move time

P6=P5/P2 ; time between the interpolation points

P11=0 ;loop counts

LINEAR

TM 100

X 0 Y 0

DWELL 500

While (P11 < P2+1)

P21=2*P3*P11/P2 ;central angle

P22=P1*(1-cos(P21*180/p3));

P23=P1*(sin(P21*180/p3));

P24=P4*P1*sin(P21*180/p3);

P25=P4*P1*cos(P21*180/p3);

TM(P6)

X (P22) Y (P23)

P11=P11+1

EndWhile

CLOSE