YASKAWA SVC User Manual page 186

Operating Patterns
The following figure shows the operating pattern when the INTERPOLATE command is exe-
cuted.
Speed (%)
0
Positioning completed range
POSCOMP
Holding and Canceling Commands
The axis stops if there is no change in the target position each high-speed scan.
Bit 0 (Hold Command) and bit 1 (Cancel Command) in the OW09 setting parameter can-
not be used to stop the axis.
Change the motion command to stop an interpolation operation.
Related Parameters
The parameters that are related to this command are listed in the following table.
 Setting Parameters
Register
Name
Address

OW 00
Servo ON
Bit 0

OW 02
Stop Mode Selection
Bit 8 to F

OW 03 Function Settings 1

OW 08 Motion Commands

OW 09
Position Reference Type
Bit 5
Torque/Force Reference

OL 0C Setting or Torque Feed-
forward Compensation

OW 12 Speed Limit

OL
14 Torque/Force Limit
Position Reference Set-

OL 1C
ting
Positioning Completion

OL 1E
Width
Position
Time (t)
Use this bit to turn the power to the Servomotor ON or OFF.
Set this parameter to 1 before setting OW08 to 4 (INTERPO-
LATE).
0: Servo OFF, 1: Servo ON
Select the stop method to use when a command is canceled.
0: Stop according to the Linear Deceleration Rate/Deceleration
Time Constant parameter
1: Stop immediately
Select the speed unit, acceleration/deceleration unit, and filter type.
Positioning is started when this parameter is set to 4 (INTERPO-
LATE).
Set the position reference type.
Set this bit before setting OW08 to 4 (INTERPOLATE).
0: Incremental value addition method
1: Absolute value specification method
Set the torque feedforward amount during interpolation.
Set the upper speed limit as a percentage of the rated speed. This
value is an absolute value. It is used in both the forward and reverse
directions.
Set the torque limit during interpolation.
Set the target position for positioning. This parameter is updated
every high-speed scan.
Set this parameter to the value for which bit 1 in IW0C will
change to 1 (Within positioning completed range).
4.2 Motion Command Details
4.2.4 INTERPOLATE (Interpolation)
Setting Details
Continued on next page.
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