Interpolation Feed (Interpolate: 34H) - YASKAWA MECHATROLINK Sigma 2 Series User Manual

4.3.24

Interpolation Feed (INTERPOLATE: 34H)

Byte INTERPOLATE
Command
1 34H
2
3 OPTION
4
5 TPOS
6
7
8
9 VFF
10
11
12
13 SEL_MON 1/2 SEL_MON 1/2
14
15
16 WDT
17 For For
subcommands subcommands
18
use. Refer to use. Refer to
19
4.4 Subcom- 4.4 Subcom-
mands. mands.
20
21
22
23
24
25
26
27
28
29
Response
34H Processing
classifications
ALARM Processing time
STATUS • Starts interpolation feeding. Speed feed forward (VFF) can be specified simul-
taneously.
• Can be used during phases 2 and 3.
MONITOR1
• A warning will occur and the command will be ignored in the following cases.
- During phases other than phase 3:
MECHATROLINK-II command warning (A.95)
- If the SERVOPACK is Servo OFF:
MECHATROLINK-II command warning (A.95)
- If the output speed (difference from the previous target position (TPOS))
MONITOR2
exceeds the limit: Parameter setting warning (A.94)
- If VFF is not within the setting range: Parameter setting warning (A.94)
- OPTION can be selected. Refer to 4.5.2 Option Field Specifications: OPTION
for details.
• Use DEN (output complete) to confirm the completion of position reference
output.
IO_MON
RWDT
4-31
Description
Motion command Synchronization
group classifications
Within communi- Subcommand
cations cycle
4.3 Main Commands
Synchronous
Can be used.
4