YASKAWA MP Series User Manual

6.2 Motion Command Details
6.2.4 Interpolation (INTERPOLATE)
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6.2.4 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, SGDV,
and SGD7S SERVOPACKs.
Torque feed forward gain is set in Torque/Thrust Reference Setting (setting parameter OL0C). The required con-
ditions are as follows:
• SERVOPACK parameter Pn002.0 = 2
• SGDS communication interface version 8 or later
When using an SGDV or SGD7S SERVOPACK, the torque limit can be set and changed during SERVOPACK opera-
tion. For details, refer to  Setting and Changing Torque Limit during SGDV or SGD7S SERVOPACK Operations of
4.4.2 ( 12 ).
( 1 ) Executing/Operating Procedure
1. Check to see if all the following conditions are satisfied.
2. Set the following motion setting parameters.
Position Reference Setting: OL1C
Filter Type Selection: OW03, bits 8 to B
Speed Loop P/PI Switch: OW01
Speed Feed Forward Amends: OW30
3. Set the parameter OW08 to 4 to execute an INTERPOLATE command.
4 is stored in IW08 during positioning.
4. Refresh the value of OL1C (Position Reference Setting) at every high-speed scan.
The target position is updated to the refreshed value of OL1C at every high-speed scan.
*
The difference between the target position of one high-speed scan and that of the next high-speed scan will be the
moving speed.
When the axis reaches the target position, bit 1 of IW0C will turn ON and positioning will be completed.
* When the incremental addition mode is set for bit 5 of OW  09 “Position Reference Type,” the following
value will be set to the current target position: Previous target position + Difference between the current value
and the previous value of the Position Reference Setting
5. Set OW08 to 0 to execute the NOP motion command and then complete the positioning operation.
R
No. Execution Conditions Confirmation Method
1 There are no alarms. Both IL02 and IL04 are 0.
2 The Servo ON condition. IW00, bit 1 is ON.
3 Motion command execution has been completed. IW08 is 0 and IW09, bit 0 is OFF.
Position
0
Width of Positioning Completion
POSCOMP
Speed (%)
Time (t)
INTERPOLATE Operating Pattern

YASKAWA MP Series Specifications

General

Brand	YASKAWA
Model	MP Series
Category	Controller
Language	English