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

4.2 Main Commands
80
4.2.24 Interpolation Feed (INTERPOLATE: 34H)
Byte INTERPOLATE Description
Command Response
1 34H 34H
Processing clas-
sifications
Motion com-
mand group
Synchronization
classifications
Synchronous
2 − ALARM
Processing time Within commu-
nications cycle
Subcommand Can be used
3 OPTION 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
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.
• 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.
If a VFF is input, no compensation for speed feed forward will be
applied.
4
5 TPOS MONITOR1
6
7
8
9 VFF MONITOR2
10
11
12
13 SEL_MON
1/2
SEL_MON
1/2
14 − IO_MON
15
16 WDT RWDT
17 For sub-
commands.
For sub-
commands.
18
19
20
21
22
23
24
25
26
27
28
29
TOEP_C710806_03A_1_0.book Seite 80 Montag, 2. Juli 2007 3:55 15