YASKAWA SGD7S-1R9D Product Manual page 470

Interpolation Profile Select (2732 Hex) (Mode 2 Object)
This object is used to select the type of interpolation profile to use.
Change the interpolation profile only after execution of the current profile has been completed.
You can change the object when enable interpolation (6040 hex bit 4) is 0.
Subin-
Index
dex
Interpolation profile
2732 hex 0
select
 Data Description
Value (Method)
Uses the 1st profile.
0 (interpolation data record for 1st profile (27C0 hex) and manufacturer interpolation data
configuration for 1st profile (2730 hex) are enabled.)
Uses the 2nd profile.
1 (interpolation data record for 2nd profile (27C1 hex) and manufacturer interpolation data
configuration for 2nd profile (2731 hex) are enabled.)
Note: Do not change this value while enable interpolation (6040 hex bit 4) is 1.
Interpolation Data Record for 1st Profile (27C0 Hex) (Mode 2
Object)
This object is used to set the interpolation position reference for the 1st profile in Buffer Strate-
gies for the Interpolated Position Mode.
Set this object only after setting all of the items in manufacturer interpolation data configuration
for 1st profile (2730 hex).
After you set this object, set enable interpolation (6040 hex bit 4) to 1.
Subin-
Index
dex
0 Number of entries
27C0 hex
1st set point to
1 to 254
254th set point
Interpolation Data Record for 2nd Profile (27C1 Hex) (Mode
2 Object)
This object is used to set the interpolation position reference for the 2nd profile in Buffer Strat-
egies for the Interpolated Position Mode.
Set this object only after setting all of the items in manufacturer interpolation data configuration
for 2nd profile (2731 hex).
After you set this object, set enable interpolation (6040 hex bit 4) to 1.
Subin-
Index
dex
0 Number of entries
27C1 hex
1st set point to
1 to 254
254th set point
Data
Name Access
Type
USINT RW
Data
Name Access
Type
USINT RO
DINT RW
Data
Name Access
Type
USINT RO
DINT RW
14.10 Interpolated Position Mode
PDO
Value
Mapping
Yes 0 or 1 (default: 0)
Description
PDO
Value
Mapping
No 254
-2,147,483,648 to
No 2,147,483,647
(default:0)
PDO
Value
Mapping
No 254
-2,147,483,648 to
No 2,147,483,647
(default:0)
Saving to
EEPROM
No
Saving to
EEPROM
No
No
Saving to
EEPROM
No
No
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