YASKAWA SVC - INTERPOLATE (Interpolation)

4.2 Motion Command Details
4.2.4 INTERPOLATE (Interpolation)
4-42
4.2.4 INTERPOLATE (Interpolation)
The INTERPOLATE command positions the axis according to target position data that changes
in sync with the high-speed scan. The positioning data is created by a ladder program.
Execution and Operating Procedures
1. Make sure that all of the following conditions are met.
* Before you change to this command during the execution of another command, you must check whether
the command can be changed and how operation changes when the command is changed. Refer to the
following section for details on changing from another command.
4.4 Changing the Command on page 4-137
2. Set the following setting parameters.
• OW01, Bit 3 (Speed Loop P/PI Switch)
• OW03, Bits 8 to B (Filter Type Selection)
• OL0C (Torque/Force Reference Setting or Torque Feedforward Compensation)
• OW12 (Speed Limit)
• OL14 (Torque/Force Limit)
• OL1C (Position Reference Setting)
• OW30 (Speed Feedforward Compensation)
3. Set the OW08 setting parameter (Motion Commands) to 4 to execute the INTER-
POLATE motion command.
During positioning, the IW08 monitor parameter (Motion Command Response Code) will be 4.
4. The value of OL1C is updated every high-speed scan.
The target position is updated to the updated value of OL1C.
The difference between the target position of one high-speed scan and that of the next high-speed
scan determines the travel speed.
When the target position is reached, bit 1 (Positioning Completed) in the IW0C monitor param-
eter will change to 1 (Within positioning completed range) and positioning will end.
5. Set OW08 to 0 to execute the NOP motion command.
This concludes interpolation positioning.
• Speed feedforward compensation can be applied.
• Torque feedforward compensation can be used with the INTERPOLATE command.
The torque feedforward compensation is set in the OL0C setting parameter (Torque/
Force Reference Setting or Torque Feedforward Compensation). If torque feedforward
compensation is not necessary, set OL0C to 0.
• The torque can be limited with the OL14 setting parameter (Torque/Force Limit).
OL14 can be changed at any time. The intended operation may not be achieved if
the set value is too small.
No. Execution Condition Confirmation Method
1 There must be no alarms. Both IL02 and IL04 must be 0.
2 The Servomotor’s power must be ON. Bit 1 in IW00 must be 1.
3
Motion command execution for the target axis
must be completed.*
IW08 must be 0 and bit 0 in
IW09 must be 0.
When bit 5 (Position Reference Type) in the OW09 setting parameter is set to the
incremental addition method, the previous target position is added to the difference
between the current value and the previous value of OL1C to find the target posi-
tion.
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