YASKAWA MP2100 Series User Manual page 363

11 SVR Virtual Motion Module
11.3.2 Motion Command Details
(4) Interpolation (INTERPOLATE)
The INTERPOLATE command positions the axis according to the target position that changes in sync with the
high-speed scan. The positioning data is generated by a ladder program.
(a) Operating Procedure
No.
1 There are no alarms.
2 The Servo ON condition.
3 Motion command execution has been completed.
Set the motion setting parameters.
• Target Position: OL
• Acceleration/Deceleration Filter Type:
OW
Execute the interpolation (INTERPOLATE)
motion command.
• Set OW
Positioning starts.
• IW
Change the Target Position (OL
every high-speed scan.
Positioning completed.
• IB
Execute NOP motion command.
• Set OW
Note: The following position information is updated during command execution.
• Machine Coordinate Target Position (TPOS) (IL
• Target Position (CPOS) (IL
• Machine Coordinate System Position (MPOS) (IL
• Machine Coordinate Feedback Position (APOS) (IL
11-24
Execution Conditions
1C
03
08 to 4.
08 will be 4 during positioning.
1C)
0C1 will turn ON.
08 to 0.
Both IL
IB 001 is ON.
IW
Speed (%)
0
OW 08 = 4
(INTERPOLATE)
IW 08 = 4
(INTERPOLATE)
IB 090 (BUSY)
IB 098 (COMPLETE)
IB 0C0 (DEN)
IB 0C1 (POSCOMP)
IB 0C3 (NEAR)
• Speed feed forward compensation can be applied.
• Generate the positioning data each high-speed scan from the
ladder logic program.
• The travel speed is calculated automatically.
• The Command Pause (OB
• The Command Abort (OB
• Change the motion command to stop interpolation execution.
OE)
10)
12): MPOS is always equal to CPOS.
16): APOS is always equal to CPOS.
Confirmation Method
02 and IL 04 are 0.
08 is 0 and IB 090 is OFF.
Position
090) cannot be used.
091) cannot be used.
Time (t)