Interpolation Command (Interpolate: 34H) - YASKAWA S-7 Series Command Manual

3.2 Servo Commands

3.2.9 Interpolation Command (INTERPOLATE: 34h)

3.2.9

Interpolation Command (INTERPOLATE: 34h)

Data Format
Phases in which the
Command can be Executed
Processing Time
Byte
0
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
3-36
3
Within
communication
cycle
INTERPOLATE
Command Response
34h 34h
WDT RWDT
CMD_CTRL CMD_STAT
SVCMD_CTRL SVCMD_STAT
SVCMD_IO SVCMD_IO
CPRM_SEL_
TPOS
MON1
CPRM_SEL_
VFF
MON2
TFF MONITOR1
Reserved MONITOR2
TLIM MONITOR3
Command Servo standard
command
Classification
Subcommand
Description
• The INTERPOLATE command performs interpolation
feeding by specifying the interpolation positions every
communication cycle set in the CONNECT command.
• Confirm the completion of the command execution by
checking that RCMD = INTERPOLATE (= 34h) and
CMD_STAT.CMDRDY = 1.
• Confirm motion reference output completion by check-
ing that SVCMD_IO.DEN = 1, and the completion of
positioning by checking that SVCMD_IO.PSET = 1.
• CPRM_SEL_MON1/CPRM_SEL_MON2:
Monitor data can be selected by changing the common
parameter setting. Refer to the following chapter for
details.
Chapter 8 Common Parameters.
<Notes on using the command>
• TPOS (target position):
Set the target position with a signed value.
• VFF (velocity feedforward):
Set the speed feedforward value with a signed value.
Use it as a speed feedforward function.
• TFF (torque feedforward):
Set the torque feedforward value with a signed value.
Use it as a torque feedforward function.
• TLIM (torque limit):
Set the torque limit with an unsigned value.
• Refer to the following section for the above reference
data.
3.2.19 Motion Command Data Setting Method on page
3-52.
• Refer to the following section for the reference value
units in the command area.
2.7.2 Specifying Units on page 2-27.
In the following cases, an alarm will occur and the com-
mand will not be executed.
• When used in communication phase 2:
CMD_ALM = Ch (A.97A)
• In the servo OFF state: CMD_ALM = Ah (A.95A)
• When the difference relative to the previous TPOS
exceeds the limit value: CMD_ALM = 9h (A.94B)
In the following cases, an alarm will occur and the rele-
vant value will be clamped at the limit value.
• When the VFF data is invalid: CMD_ALM = 1h (A.97B)
• When the TFF data is invalid: CMD_ALM = 1h (A.97B)
Synchronous
command
Can be used