Interpolated Position Mode - YASKAWA SGD7S-xxxDA0 series Product Manual

14.3.2

Interpolated Position Mode

The Interpolated Position Mode is used to control multiple coordinated axes or to control a sin-
gle axis that requires time interpolation of the set point data. There are the following two sub-
modes for the Interpolated Position Mode.
Interpolation submode select (60C0h) is used to change the submode. Refer to the following
section for details.
15.10 Interpolated Position Mode on page 15-35

Interpolated Position Mode

No position reference filter
Mode 1
Position reference filter
No position reference filter
Mode 2
Position reference filter
Mode 1
This submode normally uses a time (communications) synchronization mechanism to synchro-
nize the Servo Drives. The Interpolation Time Period defines the update cycle of the Interpola-
tion Data (i.e., the interpolation position). The interpolation processing in the SERVOPACK is
based on this setting. The Interpolation Data is interpreted as an absolute value.
The following figure shows the block diagram for mode 1.
Interpolation data (60C1h)
Interpolation time
Period (60C2h)
Software position limit (607Dh)
Controlword (6040h)
Quick stop deceleration (6085h)
(or profile deceleration (6084h))
Quick stop option code (605Ah)
Torque actual value (6077h)
Velocity actual value (606Ch)
Position actual value (6064h)
Position window (6067h)
Target reached in statusword
(6041h)
Position window
time (6068h)
Following error actual value (60F4h)
Following error window (6065h)
Following error in
statusword (6041h)
Following window
time out (6066h)
 Related Objects
Index
6040h
6041h
60C1h
Number of Data
Input Multiplier
buffer
[Pos unit]
Position
Position
user unit
limit function
(2701h: 1, 2701h: 2)
Multiplier
[Acc unit]
Acceleration
user unit
(2703h: 1, 2703h: 2)
(2704h: 2, 2704h: 1)
(2702h: 1, 2702h: 2)
Output of position (2701h: 1, 2701h: 2)
limit function
+
Position reached
-
window
Position demand
comparator
-
value (6062h)
+
Following error
window
comparator
Subindex Name
0 Controlword
0 Statusword
1 Interpolation data record
Number of Profiles
1
1 to 254
Position
demand
[inc]
internal
value
(60FCh)
Position
trajectory
generator
10 4 [inc/s 2 ]
Torque
user unit
Velocity
user unit
Position actual
Position
internal value (6063h)
user unit
Multiplier
Position
user unit
(2701h: 1, 2701h: 2)
Access
RW
RO
RW
14.3 Position Control Modes
14.3.2 Interpolated Position Mode
1
2
Position Speed Torque
Motor
control
control control
Encoder
PDO Data
Unit
Mapping Type
−
Yes UINT
−
Yes UINT
Yes Pos unit DINT
Continued on next page.
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