Interpolation Feed (Interpolate: 34H) - Omron SJDE-ANA-OY Manual

4.2 Main Commands

4.2.24 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
14
15
16 WDT
17 For sub-
commands.
18
19
20
21
22
23
24
25
26
27
28
29
Response
34H Processing clas-
sifications
ALARM Processing time
STATUS • Starts interpolation feeding every communications cycle.
• Can be used during phase 3.
• A warning will occur and the command will be ignored in the following
MONITOR1
cases.
-During phase 2: Command warning 1 (A.95A)
-If the SERVOPACK is Servo OFF: Command warning 1 (A.95A)
-If the output speed [Target position (TPOS) - Current position (IPOS)]
exceeds the maximum speed: Data setting warning 2 (A.94B)
• OPTION field cannot be used. Set all bits to 0.
MONITOR2
• The target position (TPOS) is indicated by signed 4 bytes.
• Use DEN (output complete) to confirm the completion of position refer-
ence output.
• For details on interpolation, refer to 6.5.1 INTERPOLATE Related Com-
mands.
• Speed Feed Forward (VFF) cannot be used.
SEL_MON
If a VFF is input, no compensation for speed feed forward will be
1/2
applied.
IO_MON
RWDT
For sub-
commands.
Description
Motion com- Synchronization
mand group classifications
Within commu- Subcommand
nications cycle
80
Synchronous
Can be used