Interpolated Position Mode - YASKAWA SGD7S-1R9D Product Manual

13.3.2

Interpolated Position Mode

The Interpolated Position Mode is used to control multiple coordinated axes or to control a sin-
gle axis that requires time interpolation of the set point data. There are the following two sub-
modes for the Interpolated Position Mode.
Interpolation submode select (60C0 hex) is used to change the submode. Refer to the following
section for details.
14.10 Interpolated Position Mode on page 14-35

Interpolated Position Mode

No position reference filter
Mode 1
Position reference filter
No position reference filter
Mode 2
Position reference filter
Mode 1
This submode normally uses a time (communications) synchronization mechanism to synchro-
nize the Servo Drives. The Interpolation Time Period defines the update cycle of the Interpola-
tion Data (i.e., the interpolation position). The interpolation processing in the SERVOPACK is
based on this setting. The Interpolation Data is interpreted as an absolute value.
The following figure shows the block diagram for mode 1.
Interpolation data (60C1 hex)
Interpolation time
Period (60C2 hex)
Software position limit (607D hex)
Controlword (6040 hex)
Quick stop deceleration (6085 hex)
(or profile deceleration (6084 hex))
Quick stop option code (605A hex)
Torque actual value (6077 hex)
Velocity actual value (606C hex)
Position actual value (6064 hex)
Position window (6067 hex)
Target reached in statusword
(6041 hex)
Position window
time (6068 hex)
Following error actual value (60F4 hex)
Following error window (6065 hex)
Following error in
statusword (6041 hex)
Following window
time out (6066 hex)
 Related Objects
Index
6040 hex
6041 hex
60C1 hex
Number of Data
Input Multiplier
buffer
[Pos unit]
Position
Position
user unit
limit function
(2701 hex: 1, 2701 hex: 2)
Multiplier
[Acc unit]
Acceleration
user unit
(2703 hex: 1, 2703 hex: 2)
(2704 hex: 2, 2704 hex: 1)
(2702 hex: 1, 2702 hex: 2)
Output of position (2701 hex: 1, 2701 hex: 2)
limit function
+
Position reached
-
window
Position demand
comparator
-
value (6062 hex)
+
Following error
window
comparator
Subindex Name
0 Controlword
0 Statusword
1 Interpolation data record
Number of Profiles
1
1 to 254
Position
demand
[inc]
internal
value
(60FC hex)
Position
trajectory
generator
10 4 [inc/s 2 ]
Torque
user unit
Velocity
user unit
Position actual
Position
internal value (6063 hex)
user unit
Multiplier
Position
user unit
(2701 hex: 1, 2701 hex: 2)
Access
RW
RO
RW
13.3 Position Control Modes
13.3.2 Interpolated Position Mode
1
2
Position Speed Torque
Motor
control
control control
Encoder
PDO Data
Unit
Mapping Type
−
Yes UINT
−
Yes UINT
Yes Pos unit DINT
Continued on next page.
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