YASKAWA MP2200

8.3
Motion Commands
8-25
( 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

0E)
• 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 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.
0
OW08 = 4
(INTERPOLATE)
IW08 = 4
(INTERPOLATE)
IB090 (BUSY)
IB098 (COMPLETE)
IB0C0 (DEN)
IB0C1 (POSCOMP)
IB0C3 (NEAR)
Position
Speed (%)
Time (t)
WWW.NNC.IR