YASKAWA SGD7S-1R9D Product Manual page 416

13.3 Position Control Modes
13.3.2 Interpolated Position Mode
Index
60C2 hex
607D hex
6084 hex
6085 hex
Mode 2
This submode is used to perform interpolation feeding control for an individual axis. Unlike
mode 1, mode 2 has reference input buffers (interpolation data record for 1st profile and inter-
polation data record for 2nd profile) that you can set to different interpolation positions (interpo-
lation data record). The interpolation positions that are set in the reference input buffers are
read each interpolation time period to perform interpolation processing.
The following figure shows the block diagram for mode 2.
Interpolation data
(27C0 hex and 27C1 hex)
Interpolation time
period (60C2 hex)
Interpolation data
configuration
(2730 hex and 2731 hex)
Interpolation profile
select (2732 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)
Following error actual value (60F4 hex)
Following error window (6065 hex)
Following error in statusword
(6041 hex)
 Related Objects
Index
6040 hex
6041 hex
60C2 hex
13-10
Subindex
Interpolation time period
Interpolation time period
1
value
2 Interpolation time index
Software position limit
1 Min position limit
2 Max position limit
0 Profile deceleration
0 Quick stop deceleration
Input
buffer
Position
[Pos unit]
limit
function
Multiplier
Acceleration
[Acc unit]
user unit
(2703 hex: 1, 2703 hex: 2)
Output of position
limit function
+
Position reached
Position window
window
time (6068 hex)
comparator
Following error
Following window
window
time out (6066 hex)
comparator
Subindex
0 Controlword
0 Statusword
Interpolation time period
1 Interpolation time period value
2 Interpolation time index
Name Access
RO
RO
RW
RW
RW
RW
Multiplier
Position
Position demand
[inc]
user unit
internal
(2701 hex: 1, 2701 hex: 2)
value
Position
(60FC hex)
trajectory
generator
10 4 [inc/s 2 ]
Torque
user unit
(2704 hex: 2, 2704 hex: 1)
Velocity
user unit
Position actual
(2702 hex: 1, 2702 hex: 2)
internal value (6063 hex)
Position
user unit
(2701 hex: 1, 2701 hex: 2)
-
Multiplier
Position demand
-
value (6062 hex) Position
user unit
+
(2701 hex: 1, 2701 hex: 2)
Name Access
RW
RO
RW
RW
Continued from previous page.
PDO Data
Unit
Mapping Type
−
No USINT
−
No SINT
No Pos unit DINT
No Pos unit DINT
Yes Acc unit UDINT
Yes Acc unit UDINT
Position Speed Torque
Motor
control
control control
Encoder
PDO Data
Unit
Mapping Type
−
Yes UINT
−
Yes UINT
−
No USINT
−
No SINT
Continued on next page.