7
Motion Commands
7.2.4
Interpolation (INTERPOLATE)
7-38
( 3 ) Related Parameters
[ a ] Setting Parameters
[ b ] Monitoring Parameters
Parameter Name Setting SVR
OB
000
Servo ON
Turns the power to the Servomotor ON and OFF.
1: Power ON to Servomotor, 0: Power OFF to Servomotor
Turn ON this bit before setting the Motion Command (OW
08) to 4.
OW
03
Function 1 Sets the speed unit, acceleration/deceleration unit, and filter type.
OW
08
Motion Command The positioning starts when this parameter is set to 4.
OB
095
Position Reference
Setting
Switch the type of position reference.
0: Incremental addition mode, 1: Absolute mode
Set this parameter before setting the Motion Command (OW
08) to 4.
OL
1C
Position Reference
Setting
Set the target position for positioning. The setting can be updated every high-speed
scan.
OL
1E
Positioning
Completed Width
Set the width in which to turn ON the Positioning Completed bit (IB
0C1).
OL
20
Positioning
Completed Width 2
Set the range in which the Position Proximity bit (IB
0C3) will turn ON.
The Position Proximity bit will turn ON when the absolute value of the difference
between the reference position and the feedback position is less than the value set
here.
OW
31
Speed Amends
Set the feed forward amount as a percentage of the rated speed.
The setting unit for this parameter is 0.01% (fixed).
OW
38
Linear Deceleration
Time
Set the rate of deceleration or deceleration time constant for positioning.
Used for deceleration stops when an alarm has occurred.
OW
3A
S-Curve
Acceleration Time
Set the acceleration/deceleration filter time constant.
Exponential acceleration/deceleration or a moving average filter can be selected in
the Function 1 (OW
03). Change the setting only after pulse distribution has
been completed for the command (IB
0C0 is ON).
Parameter Name Monitor Contents SVR
IB
001
Servo ON
Indicates the Servo ON status.
ON: Power supplied to Servomotor, OFF: Power not supplied to Servomotor
IL
02
Warning Stores the most current warning.
IL
04
Alarm Stores the most current alarm.
IW
08
Servo Command
Type Response
Indicates the motion command that is being executed.
The response code is 4 during INTERPOLATE command execution.
IB
090
Command Executing Always OFF for INTERPOLATE command.
IB
091
Command Hold
Completed
Always OFF for INTERPOLATE command.
IB
093
Command Error End
Turns ON if an error occurs during INTERPOLATE command execution.
The axis will decelerate to a stop if it is moving. Turns OFF when another command
is executed.
IB
098
Command Execution
Completed
Always OFF for INTERPOLATE command.
IB
0C0
Distribution
Completed
Turns ON when pulse distribution has been completed for the move command.
Turns OFF during execution of a move command.
IB
0C1
Positioning
Completed
Turns ON when pulse distribution has been completed and the current position is
within the Positioning Completed Width. OFF in all other cases.
IB
0C3
Position Proximity
The operation depends on the setting of the Positioning Completed Width 2 (setting
parameter OL
20).
OL
20 = 0: Turns ON when pulse distribution has been completed (DEN =
ON). Otherwise, it turns OFF.
OL
20
≠
0: Turns ON when the absolute value of the difference between
MPOS and APOS is less than the Position Proximity Setting even
if pulse distribution has not been completed.
OFF in all other cases.
R
R
R
R
R
R
R
R
R
R
R
R
R
R
R
R
R
R
R
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