Interpolated Position Mode - YASKAWA SGD7S-1R9D Product Manual

14.10

Interpolated Position Mode

Interpolation Submode Select (60C0 Hex) (Object Shared by
Mode 1 and Mode 2)
This object is used to select the submode for the Interpolated Position Mode.
To use Interpolated Position Mode, set this object first.
Subin-
Index
dex
60C0 hex 0
 Data Description
Value (Method)
0
-1
-2
-3
*
If a reference filter is used, the moving average of the interpolation position over the interpolation time period
(60C2 hex) is used.
Interpolation Data Record (60C1 Hex) (Object Shared by
Mode 1 and Mode 2)
This object gives the interpolation position reference for Interpolated Position Mode.
Subin-
Index
dex
0
60C1 hex
1
Data
Name
Type
Interpolation sub
INT
mode select
Selects mode 1 with no position refer-
ence filter.
Selects mode 1 with a position reference
filter.*
Selects mode 2 with no position refer-
ence filter.
Selects mode 2 with a position reference
filter.*
Data
Name
Type
Number of entries USINT
Interpolation data
DINT
record
14.10 Interpolated Position Mode
PDO
Access
Mapping
RW No -3 to 0 (default: 0)
Description
Interpolation data record (60C1 hex) is used
as the interpolation position reference.
Interpolation data record for 1st profile (27C0
hex) and interpolation data record for 2nd
profile (27C1 hex) are used as the interpola-
tion position references.
PDO
Access
Mapping
RO No
–2,147,483,648 to
RW Yes 2,147,483,647
(default: 0) [Pos. unit]
Saving to
Value
EEPROM
No
Saving to
Value
EEPROM
1 No
No
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