Yaskawa MP940 Reference Manual - Manual (Page 477)

Interpolation (INTERPOLATE) MotionSuite™ MP940 Machine Controller Reference Manual
11-80
6. The axis executes interpolation feed by the designated motion parame-
ters when interpolate is set in the motion commands.
7. Updates the position reference (OLC012) and stops the axis.
8. The positioning completion signal POSCOMP (bit D of IWC000) is
ON upon entering the positioning completion range (OWC00E) fol-
lowing feed completion (bit 2 of IWC015 is ON).
INTERPOLATE
Start Condition Check
Control Mode = Position Control?
Motion Command Code =
NOP||INTERPOLATE||
ENDOF INTERPOLATE?
return (INTERPOLATE
Executable)
return(NG)
return(NG)
YES
YES
YES
NO
NO
NO
MOtion Command Response =
NOP||INTERPOLATE||
ENDOF INTERPOLATE?
MOtion Commad Status
BUSY=OFF?
YES
NO