YASKAWA SGD7S-1R9D Product Manual page 468

 2730 Hex: 4 Buffer Position
The object contains the entry point for the available area in the reference input buffer.
Note: Do not change this value while enable interpolation (6040 hex bit 4) is 1.
 2730 Hex: 6 Buffer Clear
Value (Method)
0 Disables the reference input buffer.
1 Enables the reference input buffer.
 2730 Hex: 7 Position Data Definition
Value (Method)
0 Uses the value in the reference input buffer as an absolute value.
1 Uses the value in the reference input buffer as a relative value.
To enable changing this value, set the write pointer (2741 hex: 2) and the read pointer (2741
hex: 1) to the same value.
 2730 Hex: 8 Position Data Polarity
Value (Method)
0 Multiplies the value in the reference input buffer by 1.
1 Multiplies the value in the reference input buffer by -1.
This value is valid when position data definition (2730 hex: 7) is 1.
To enable changing this value, set the write pointer (2741 hex: 2) and the read pointer (2741
hex: 1) to the same value.
 2730 Hex: 9 Behavior after Reaching Buffer Position
Value (Method)
Holds the value of the read pointer (2741 hex: 1) when the read pointer (2741 hex: 1) equals
0
the write pointer (2741 hex: 2) and enable interpolation is 0.
Initializes the value of the read pointer (2741 hex: 1) when the read pointer (2741 hex: 1)
1
equals the write pointer (2741 hex: 2) and enable interpolation is 0.
This value is valid when buffer organization (2731 hex: 3) is 0.
Manufacturer Interpolation Data Configuration for 2nd Pro-
file (2731 Hex) (Mode 2 Object)
This object sets how to use the interpolation position reference in interpolation data record for
2nd profile (27C1 hex).
Subin-
Index
dex
0 Number of entries
1 Maximum buffer size
2 Actual buffer size
3 Buffer organization
4 Buffer position
5 Size of data record
2731 hex
6 Buffer clear
Position data defini-
7
tion
Position data polar-
8
ity
Behavior after
9 reaching buffer posi-
tion
Data
Name Access
Type
USINT RO
UDINT RO
UDINT RW
USINT RW
UINT RW
USINT RO
USINT RO
USINT RW
USINT RW
USINT RW
14.10 Interpolated Position Mode
Description
Description
Description
Description
PDO
Value
Mapping
No
No 254
No 254
No 0 or 1 (default: 0)
Yes 1 to 255 (default: 1)
No
No 0 or 1 (default: 0)
Yes 0 or 1 (default: 0)
Yes 0 or 1 (default: 0)
Yes 0 or 1 (default: 0)
Saving to
EEPROM
9 No
No
No
No
No
1 No
No
No
No
No
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