XGB EtherCAT Ellipse Interpolation

Ellipse interpolation is used to move two axes in an elliptical path. XPM_ELIN is used to execute the ellipse interpolation from the Position data table. The axes being controlled must already be configured using the XG-PM software before using XPM_ELIN.

  • XPM_ELIN uses a Step in the position table that is configured to perform circular interpolation.

  • Starting position and end position must be the same when executing ellipse interpolation.

  • A ratio of 100% will just move in a circle.

  • XPM_ECON and XPM_SVON must be executed before using XPM_ELIN.

  • This example is scan program LP635_XPM_ELIN_Example in OnlineHelp_ECAT_Example.

Element Name Element Style Description
REQ Input Edge detected request to execute the function block.
BASE Input Base number of the motion controller. Set to 0.
SLOT Input Slot number of the motion controller. Set to the slot number of the XBF-PN04B or XBF-PN08B module.
AXIS Input Axis number to control. XBF-PN04B:1~4, XBF-PN08B:1~8
STEP Input Step to execute in the position table. Must be a value between 0 – 400. If value is set to 0, then the current step is executed. This can be a constant or variable.
RATIO Input Ellipse Ratio (%). Value range of 1 to 65535. A value of 10000 equals 100%.
DEG Input Operating Angle in degrees. Value range of 1 to 65535. A value of 3600 equals an angle of 360 degrees.
DONE Output Status that function block is done.
STAT Output Current status of the function block. Non-zero numbers will be an error or warning.

XPM_ELIN Movement Drawing

The position table is setup in the XG-PM software.

Step Action
1

Open the XG5000 project for the application. Go to Tools menu èPosition Control to open XG-PM software.
2

Open the XG-PM project or Connect to PLC and select ProjectèOpen from PLC.
3

Open the Position data table in the Workspace for the axis that is being configured. This example shows Axis #1.

  • In this example Axis 1 is the main axis and Axis 2 is the sub axis.

  • The control types of Axis 1 and Axis 2 must match when using an ellipse interpolation move.

  • The Target positions should equal start position when doing an ellipse.

  • The circular interpolation mode can be set to Center-Point, CW or Center-Point, CCW.

  • A valid circular interpolation auxiliary point (center point) must be entered.

  • In this example, the target position for Axis 1 and 2 are (0,0) in the relative mode. This means Axis 1 and 2 will go back to the starting position.

  • This example uses Step 20 of the Online_ECAT_XGPM_Example XG-PM project in OnlineHelp_ECAT_Example.

XPM_ELIN Code for Example 1

XG-PM Trend of XPM_ELIN

 

 

 

 

 

 

 

 

 

LP635