YASKAWA MP2100 Series - Interpolation (INTERPOLATE)

8.5 Interpolation (INTERPOLATE)
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8.5 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.
(1) Operating Procedure
(2) Holding and Aborting
The axis will decelerate to a stop if there is no change in the target position each high-speed scan.
The Command Pause bit (OB

090) and the Command Abort bit (OB

091) cannot be used.
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.
Set the motion setting parameters.
• Target Position: OL

1C
• Acceleration/Deceleration Filter Type:
OW

03
• Speed Loop P/PI Switch: OW

01
• Speed Feed Forward: OW

30
• Speed feed forward can be applied.
• Generate the positioning data each high-speed scan from the
ladder logic program.
• The travel speed is calculated automatically.
• The Command Pause (OB

090) cannot be used.
• The Command Abort (OB

091) cannot be used.
• Change a motion command to stop interpolation execution.
Execute the interpolation (INTERPOLATE)
motion command.
• Set OW

08 to 4.
Positioning starts.
• IW

08 will be 4 during positioning.
Change the Target Position (OL

1C)
every high-speed scan.
Positioning Completed
• IB

0C1 will turn ON.
Execute NOP motion command.
• Set OW

08 to 0.
Position
Speed
%
Time (t
0
Positioning Completed Width
POSCOMP