YASKAWA SVC - Page 187

4.2 Motion Command Details
4.2.4 INTERPOLATE (Interpolation)
4-44
 Monitor Parameters
OL20
NEAR Signal Output
Width
Set this parameter to the value for which bit 3 in IW0C will
change to 1 (Within near position range). Bit 3 changes to 1 when
the absolute value of the difference between the reference position
and the feedback position is within the range that is specified here.
OW
31 Speed Compensation
Set the speed feedforward amount as a percentage of the rated
speed.
The setting unit for this parameter is always 0.01%.
OL38
Linear Deceleration
Rate/Deceleration Time
Constant
Set the positioning deceleration rate with the deceleration time.
This parameter is used for decelerating to a stop when an alarm
occurs.
OW
3A Filter Time Constant
Set the acceleration/deceleration filter time constant.
Exponential acceleration/deceleration or a moving average filter can
be selected in bits 8 to B in OW03. This setting can be
changed only when distribution has been completed (i.e., when bit 0
in IW0C is 1).
Register
Address
Name Monitored Contents
IW
00
Bit 1
Running with Servo
ON
This bit shows the Servo status for the axis.
0: Stopped, 1: Running with Servo ON
IL
02 Warnings This parameter reports the current warning status.
IL04 Alarms This parameter reports the current alarm status.
IW08
Motion Command
Response Code
This parameter shows the motion command currently in execution.
This parameter is 4 during execution of the INTERPOLATE command.
IW
09
Bit 0
Command Execu-
tion Flag
This bit is always 0 (Completed) for the INTERPOLATE command.
IW
09
Bit 1
Command Hold
Completed
This bit is always 0 (Command hold not completed) for the INTERPO-
LATE command.
IW09
Bit 3
Command Error End
This bit changes to 1 (Completed with an error) when an error occurs
during execution of the INTERPOLATE command.
The axis will decelerate to a stop if it is moving. This bit changes to 0
(Completed normally) when another command is executed.
IW
09
Bit 8
Command Execu-
tion Completed
This bit is always 0 (Normal execution not completed) for the INTERPO-
LATE command.
IW
0C
Bit 0
Distribution Com-
pleted
This bit changes to 1 (Distribution completed) when the distribution for
the travel motion command is completed.
This bit is 0 (Distributing pulses) when the execution of a travel motion
command is in progress.
IW
0C
Bit 1
Positioning Com-
pleted
This bit is 1 (Within positioning completed range) when distribution is
completed and the current position is within the positioning completed
range. This bit is 0 (Outside positioning completed range) in all other
cases.
IW
0C
Bit 3
Near Position
The operation of this bit depends on the set value of OL20.
If OL20 is 0, this bit is 1 (Within near position range) when distribu-
tion is completed (i.e., when DEN is 1), and it is 0 (Outside near position
range) when distribution is not completed.
When OL20 is not 0, this bit is 1 when within the range of the fol-
lowing formula, regardless of the state of distribution, and 0 in all other
cases.
|(IL12) − (IL16)| ≤ OL20
IL12: Machine Coordinate System Reference Position
IL16: Machine Coordinate System Feedback Position
OL20: NEAR Signal Output Width
Continued from previous page.
Register
Address
Name Setting Details