YASKAWA MP2000 Series User Manual page 197

7.2 Motion Command Details
7.2.4 Interpolation (INTERPOLATE)
( 3 ) Related Parameters
[ a ] Setting Parameters
Parameter
OW00
Bit 0
OW03
OW08
OW09
Bit 5
OL1C
OL1E
OL20
OW3A
[ b ] Monitoring Parameters
Parameter
IW00
Bit 1
IL02
IL04
IW08
IW09
Bit 0
IW09
Bit 1
IW09
Bit 3
IW09
Bit 8
IW0C
Bit 0
IW0C
Bit 1
IW0C
Bit 3
7-58
Name
Turns the power to the Servomotor ON and OFF.
Servo ON
1: Power ON to Servomotor, 0: Power OFF to Servomotor
Set this bit to 1 before setting the Motion Command (OW08) to 4.
Function Setting 1
Select the filter type.
Motion Command
The positioning starts when this parameter is set to 4.
Select the type of position reference.
Position Reference
0: Incremental addition mode, 1: Absolute mode
Type
Set this bit before setting the Motion Command (OW08) to 4.
Position Reference
Set the target position for positioning. The setting can be updated every high-speed scan.
Type
Width of Positioning
Set the width in which to turn ON the Positioning Completed bit (IW0C, bit 1).
Completion
Set the range in which the NEAR Position bit (IW0C, bit 3) will turn ON.
NEAR Signal
The NEAR Position bit will turn ON when the absolute value of the difference between
Output Width
the reference position and the feedback position is less than the value set here.
Set the acceleration/deceleration filter time constant.
Exponential acceleration/deceleration or a moving average filter can be selected in the
Filter Time Constant
Function Setting 1 (OW03, bits 8 to B). Change the setting only after pulse distribu-
tion has been completed for the command (IW0C, bit 0 is ON).
Name
Running
Indicates the Servo ON status.
(At Servo ON)
ON: Power supplied to Servomotor, OFF: Power not supplied to Servomotor
Warning
Stores the most current warning.
Alarm
Stores the most current alarm.
Motion Command
Indicates the motion command that is being executed.
Response Code
The response code is 4 during INTERPOLATE command execution.
Command Execution
Always OFF for INTERPOLATE command.
Flag
Command Hold
Always OFF for INTERPOLATE command.
Completed
Turns ON if an error occurs during INTERPOLATE command execution.
Command Error
The axis will decelerate to a stop if it is moving. Turns OFF when another command is exe-
Completed Status
cuted.
Command Execution
Always OFF for INTERPOLATE command.
Completed
Discharging
Turns ON when pulse distribution has been completed for the move command.
Completed
Turns OFF during execution of a move command.
Positioning
Turns ON when pulse distribution has been completed and the current position is within
Completed
the Width of Positioning Completion. OFF in all other cases.
The operation depends on the setting of the NEAR Signal Output Width (setting parameter
OL20).
OL20 = 0: Turns ON when pulse distribution has been completed (DEN = ON).
NEAR Position
OL20
Setting
Monitor Contents
Otherwise, it turns OFF.
≠
0: Turns ON when the absolute value of the difference between MPOS
(IL12) and APOS (IL16) is less than the NEAR Position Set-
ting even if pulse distribution has not been completed.
OFF in all other cases.