YASKAWA SGD7S-xxxDA0 series Product Manual page 442

14.3 Position Control Modes
14.3.2 Interpolated Position Mode
Index
60C2h
607Dh
6084h
6085h
Mode 2
This submode is used to perform interpolation feeding control for an individual axis. Unlike
mode 1, mode 2 has reference input buffers (interpolation data record for 1st profile and inter-
polation data record for 2nd profile) that you can set to different interpolation positions (interpo-
lation data record). The interpolation positions that are set in the reference input buffers are
read each interpolation time period to perform interpolation processing.
The following figure shows the block diagram for mode 2.
Interpolation data
(27C0h and 27C1h)
Interpolation time
period (60C2h)
Interpolation data
configuration
(2730h and 2731h)
Interpolation profile
select (2732h)
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)
Following error actual value (60F4h)
Following error window (6065h)
Following error in statusword
(6041h)
 Related Objects
Index
6040h
6041h
60C2h
14-10
Subindex
Interpolation time period
Interpolation time period
1
value
2 Interpolation time index
Software position limit
1 Min position limit
2 Max position limit
0 Profile deceleration
0 Quick stop deceleration
Input
buffer
Position
[Pos unit]
limit
function
Multiplier
Acceleration
[Acc unit]
user unit
(2703h: 1, 2703h: 2)
Output of position
limit function
+
Position reached
Position window
window
time (6068h)
comparator
Following error
Following window
window
time out (6066h)
comparator
Subindex
0 Controlword
0 Statusword
Interpolation time period
1 Interpolation time period value
2 Interpolation time index
Name Access
RO
RO
RW
RW
RW
RW
Multiplier
Position
Position demand
[inc]
user unit
internal
(2701h: 1, 2701h: 2)
value
Position
(60FCh)
trajectory
generator
10 4 [inc/s 2 ]
Torque
user unit
(2704h: 2, 2704h: 1)
Velocity
user unit
Position actual
(2702h: 1, 2702h: 2)
internal value (6063h)
Position
user unit
(2701h: 1, 2701h: 2)
-
Multiplier
Position demand
-
value (6062h) Position
user unit
+
(2701h: 1, 2701h: 2)
Name Access
RW
RO
RW
RW
Continued from previous page.
PDO Data
Unit
Mapping Type
−
No USINT
−
No SINT
No Pos unit DINT
No Pos unit DINT
Yes Acc unit UDINT
Yes Acc unit UDINT
Position Speed Torque
Motor
control
control control
Encoder
PDO Data
Unit
Mapping Type
−
Yes UINT
−
Yes UINT
−
No USINT
−
No SINT
Continued on next page.