Interpolation (Interpolate) - YASKAWA JEPMC-MP2300-Y Series User Manual

7 Motion Commands

7.2.4 Interpolation (INTERPOLATE)

Parameter
OW 3C
OL 10
OL 40
OL 42
OB 05B
7.2.4 Interpolation (INTERPOLATE)
( 1 ) Executing/Operating Procedure
No.
1
2
3
7-36
Setting Parameters
Name
Home Return Type
Speed Reference
Creep Speed
Home Offset
INPUT Signal for Zero
Point Return
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.
Speed feed forward compensation can be applied.
Torque feed forward gain can be used when interpolation commands (INTERPOLATE) are sent
using SGDS SERVOPACKs.
Torque feed forward gain is set in Torque/Thrust Reference (setting parameter OL
required conditions are as follows:
SERVOPACK parameter Pn002.0 = 2
SGDS communication interface version 8 or later
1.
Check to see if all the following conditions are satisfied.
Execution Conditions
There are no alarms.
The Servo ON condition.
Motion command execution has been completed.
2.
Set the following motion setting parameters.
Target Position: OL
Acceleration/Deceleration Filter Type: OW
Speed Loop P/PI Switch: OW
Speed Feed Forward Compensation: OW
3.
Set OW 08 to 4 to execute the INTERPOLATE motion command.
Positioning will start. The travel speed is calculated automatically.
IW 08 will be 4 during the positioning.
The Target Position (OL
IB 0C1 will turn ON when the axis reaches the target position and the positioning has been
completed.
4.
Set OW 08 to 0 to execute the NOP motion command and then complete the
19: INPUT Only Method
Set the positioning speed to use after detecting the INPUT signal. The sign
is ignored. The travel direction will depend on the sign of the Home Offset.
Set the speed and the travel direction (sign) to use when starting a zero point
return.
Set the distance to travel from the point the INPUT signal is detected.
The travel direction will depend on the sign.
This signal must be turned ON from the ladder program.
R
Both IL
IB
IW
1C
01
30
1C) will be updated every high-speed scan.
Setting
Confirmation Method
02 and IL 04 are 0.
001 is ON.
08 is 0 and IB 090 is OFF.
03
0C). The