4.2 Motion Command Details
4.2.4 INTERPOLATE (Interpolation)
4.2.4
INTERPOLATE (Interpolation)
The INTERPOLATE command positions the axis according to target position data that changes
in sync with the high-speed scan. The positioning data is created by a ladder program.
Information
Execution and Operating Procedures
1.
Make sure that all of the following conditions are met.
2.
Set the following setting parameters.
• OW01, Bit 3 (Speed Loop P/PI Switch)
• OW03, Bits 8 to B (Filter Type Selection)
• OL0C (Torque/Force Reference Setting or Torque Feedforward Compensation)
• OW12 (Speed Limit)
• OL14 (Torque/Force Limit)
• OL1C (Position Reference Setting)
• OW30 (Speed Feedforward Compensation)
3.
Set the OW08 setting parameter (Motion Commands) to 4 to execute the INTER-
POLATE motion command.
During positioning, the IW08 monitor parameter (Motion Command Response Code) will be 4.
4.
The value of OL1C is updated every high-speed scan.
The target position is updated to the updated value of OL1C.
The difference between the target position of one high-speed scan and that of the next high-speed
scan determines the travel speed.
When the target position is reached, bit 1 (Positioning Completed) in the IW0C monitor param-
eter will change to 1 (Within positioning completed range) and positioning will end.
Information
5.
Set OW08 to 0 to execute the NOP motion command.
This concludes interpolation positioning.
4-42
• Speed feedforward compensation can be applied.
• Torque feedforward compensation can be used with the INTERPOLATE command.
The torque feedforward compensation is set in the OL0C setting parameter (Torque/
Force Reference Setting or Torque Feedforward Compensation). If torque feedforward
compensation is not necessary, set OL0C to 0.
• The torque can be limited with the OL14 setting parameter (Torque/Force Limit).
OL14 can be changed at any time. The intended operation may not be achieved if
the set value is too small.
No.
Execution Condition
1
There must be no alarms.
2
The Servomotor's power must be ON.
Motion command execution for the target axis
3
must be completed.*
*
Before you change to this command during the execution of another command, you must check whether
the command can be changed and how operation changes when the command is changed. Refer to the
following section for details on changing from another command.
4.4 Changing the Command on page 4-137
When bit 5 (Position Reference Type) in the OW09 setting parameter is set to the
incremental addition method, the previous target position is added to the difference
between the current value and the previous value of OL1C to find the target posi-
tion.
Confirmation Method
Both IL02 and IL04 must be 0.
Bit 1 in IW00 must be 1.
IW08 must be 0 and bit 0 in
IW09 must be 0.