YASKAWA JEPMC-MP2300-Y Series

7
Motion Commands
7.2.4
Interpolation (INTERPOLATE)
7-36
z
Setting Parameters
7.2.4 Interpolation (INTERPOLATE)
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

0C). The
required conditions are as follows:

SERVOPACK parameter Pn002.0 = 2

SGDS communication interface version 8 or later
( 1 ) Executing/Operating Procedure
1.
Check to see if all the following conditions are satisfied.
2.
Set the following motion setting parameters.
Target Position: OL

1C
Acceleration/Deceleration Filter Type: OW

03
Speed Loop P/PI Switch: OW

01
Speed Feed Forward Compensation: OW

30
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

1C) will be updated every high-speed scan.
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
Parameter Name Setting
OW

3C
Home Return Type 19: INPUT Only Method
OL

10
Speed Reference
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.
OL

40
Creep Speed
Set the speed and the travel direction (sign) to use when starting a zero point
return.
OL

42
Home Offset
Set the distance to travel from the point the INPUT signal is detected.
The travel direction will depend on the sign.
OB

05B
INPUT Signal for Zero
Point Return
This signal must be turned ON from the ladder program.
R
No. Execution Conditions Confirmation Method
1 There are no alarms.
Both IL

02 and IL

04 are 0.
2 The Servo ON condition.
IB

001 is ON.
3 Motion command execution has been completed.
IW

08 is 0 and IB

090 is OFF.