Yaskawa JAPMC-MC2300 - Manual (Page 197)

7.2 Motion Command Details
7.2.4 Interpolation (INTERPOLATE)
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Motion Commands
7.2.4 Interpolation (INTERPOLATE)
The INTERPOLATE command positions the axis according to the target position that changes in sync with the high-
speed scan. The positioning data is generated by a ladder program.
Speed feed forward compensation can be applied.
( 1 ) Executing/Operating Procedure
1. Check to see if all the following conditions are satisfied.
2.
Set the following motion setting parameters.
Position Reference Setting: OL 1C
Filter Type Selection: OW 03, bits 8 to B
Speed Feedforward Amends: OW 30
3.
Set the parameter OW 08 to 4 to execute an INTERPOLATE command.
The positioning starts. The travel speed is automatically calculated.
4 is stored in IW
08 during positioning.
The target position will be refreshed every high-speed scan. Set the target position to be refreshed in OL 1C
(Position Reference Setting).
When the axis reaches the target position, the bit 1 of IW
0C turns ON and the positioning is completed.
4. Set OW 08 to 0 to execute the NOP motion command to complete the positioning operation.
( 2 ) Holding and Aborting
The axis will decelerate to a stop if there is no change in the target position each high-speed scan.
The Holds A Command bit (OW
09, bit 0) and the Interrupt A Command bit (OW 09, bit 1) cannot be used.
Change a motion command to NOP to stop the interpolation execution.
No. Execution Conditions Confirmation Method
1 There are no alarms. IL 04 is 0.
2 The Servo ON condition. IW 00, bit 1 is ON.
3 Motion command execution has been completed. IW 08 is 0 and IW 09, bit 0 is OFF.
Speed
High-speed scan
Time
Discharging Completed
(IW 0C, bit 0)
Positioning Completed
(IW 0C, bit 1)
0
Moving amount per high-speed scan
(The difference between the values in OL 1C of
one scan and the next scan)
INTERPOLATE Operation Pattern