YASKAWA MP2100 Series - Page 363

11 SVR Virtual Motion Module
11.3.2 Motion Command Details
11-24
(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.
(a) Operating Procedure
Note: The following position information is updated during command execution.
• Machine Coordinate Target Position (TPOS) (IL

OE)
• Target Position (CPOS) (IL

10)
• Machine Coordinate System Position (MPOS) (IL

12): MPOS is always equal to CPOS.
• Machine Coordinate Feedback Position (APOS) (IL

16): APOS is always equal to CPOS.
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 feed forward compensation 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 the 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
0
Speed (%)
Time (t)
OW08 = 4
(INTERPOLATE)
IW08 = 4
(INTERPOLATE)
IB090 (BUSY)
IB098 (COMPLETE)
IB0C0 (DEN)
IB0C1 (POSCOMP)
IB0C3 (NEAR)