YASKAWA MP2200

5
Motion Commands
5.2.4
Interpolation (INTERPOLATE)
5-58
( 4 ) Timing Charts
[ a ] Normal Execution
[ b ] Execution when an Alarm Occurs
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).
OL

20
≠
0: Turns ON when

MPOS - APOS

< Position Proximity Setting even
if pulse distribution has not been completed.
OFF in all other cases.
OW08 = 4 (INTERPOLATE)
IW08 = 4 (INTERPOLATE)
IB090 (BUSY)
IB098 (COMPLETE)
IB093 (FAIL)
IB0C0 (DEN)
1 scan
IB0C1 (POSCOMP)
Undefined length of time
The target position is refreshed every high-speed scan.
Undefined length of time
IB0C1 (POSCOMP)
1 scan
Alarm
OW08 = 4(INTERPOLATE)
IW08 = 4(INTERPOLATE)
IB090 (BUSY)
IB098 (COMPLETE)
IB093 (FAIL)
IB0C0 (DEN)
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