YASKAWA MECHATROLINK Sigma 2 Series - Interpolation Feed (INTERPOLATE: 34 H)

4.3 Main Commands
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4.3.24 Interpolation Feed (INTERPOLATE: 34H)
Byte INTERPOLATE Description
Command Response
1 34H 34H Processing
classifications
Motion command
group
Synchronization
classifications
Synchronous
2 ALARM Processing time Within communi-
cations cycle
Subcommand Can be used.
3OPTIONSTATUS• Starts interpolation feeding. Speed feed forward (VFF) can be specified simul-
taneously.
• Can be used during phases 2 and 3.
• 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))
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.
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
subcommands
use. Refer to
4.4 Subcom-
mands.
For
subcommands
use. Refer to
4.4 Subcom-
mands.
18
19
20
21
22
23
24
25
26
27
28
29