Yaskawa MP940 Reference Manual - Manual (Page 476)

MotionSuite™ MP940 Machine Controller Reference Manual Interpolation (INTERPOLATE)
11-79
Interpolation (INTERPOLATE)
Executes interpolation feed according to position data continually fed from the CPU
module.
Detailed Description
The order of operations in the interpolation feed is shown below.
1. Set initial fixed motion parameter and motion setting parameter values
to match the customer's machine.
2. Select the position control mode (PCON) (bit 2 of OWC000).
3. Set the position reference setting (OLC012). If necessary, set the
motion setting parameters used during interpolation, such as the filter
time constant (OWC014).
4. Turn the RUN command (Bit 0 of OWC001) ON.
5. Set interpolation (INTERPOLATE = 4) in the motion commands
(OWC020).
Signifies system execution.
Signifies user execution.
1. Fixed Motion Parameter Setting
Initial value of motion setting parameters
2. Motion Control Mode (PCON) Selection
3. Setting of motion setting parameters
4. Servo ON (RUN)
5. Motion Command
Execution of interpolation
(INTERPOLATE)
6. Start of interpolation feed operation
7. Stopping of position reference (OLC012)
update
8. Positioning completion signal (POSCOMP)
ON
PCON
RUN
Motion Command
(INTERPOLATE)
Position
Speed
(%)
Time (t)
0
Position Completion Range
POSCOMP