YASKAWA SVC - Page 186

4.2 Motion Command Details
4.2.4 INTERPOLATE (Interpolation)
4
Motion Control Program Commands and Instructions
4-43
Operating Patterns
The following figure shows the operating pattern when the INTERPOLATE command is exe-
cuted.
Holding and Canceling Commands
The axis stops if there is no change in the target position each high-speed scan.
Bit 0 (Hold Command) and bit 1 (Cancel Command) in the OW09 setting parameter can-
not be used to stop the axis.
Change the motion command to stop an interpolation operation.
Related Parameters
The parameters that are related to this command are listed in the following table.
 Setting Parameters
Register
Address
Name Setting Details
OW00
Bit 0
Servo ON
Use this bit to turn the power to the Servomotor ON or OFF.
Set this parameter to 1 before setting OW08 to 4 (INTERPO-
LATE).
0: Servo OFF, 1: Servo ON
OW
02
Bit 8 to F
Stop Mode Selection
Select the stop method to use when a command is canceled.
0: Stop according to the Linear Deceleration Rate/Deceleration
Time Constant parameter
1: Stop immediately
OW
03 Function Settings 1 Select the speed unit, acceleration/deceleration unit, and filter type.
OW08 Motion Commands
Positioning is started when this parameter is set to 4 (INTERPO-
LATE).
OW
09
Bit 5
Position Reference Type
Set the position reference type.
Set this bit before setting OW08 to 4 (INTERPOLATE).
0: Incremental value addition method
1: Absolute value specification method
OL
0C
Torque/Force Reference
Setting or Torque Feed-
forward Compensation
Set the torque feedforward amount during interpolation.
OW12 Speed Limit
Set the upper speed limit as a percentage of the rated speed. This
value is an absolute value. It is used in both the forward and reverse
directions.
OL
14 Torque/Force Limit Set the torque limit during interpolation.
OL
1C
Position Reference Set-
ting
Set the target position for positioning. This parameter is updated
every high-speed scan.
OL
1E
Positioning Completion
Width
Set this parameter to the value for which bit 1 in IW0C will
change to 1 (Within positioning completed range).
Continued on next page.
0
POSCOMP
Speed (%)
Position
Time (t)
Positioning completed range