YASKAWA SVC - Page 188

4.2 Motion Command Details
4.2.4 INTERPOLATE (Interpolation)
4
Motion Control Program Commands and Instructions
4-45
Timing Charts
 Normal Execution
 Execution When an Alarm Occurs
OW08 = 4 (INTERPOLATE)
IW08 = 4 (INTERPOLATE)
IW09 Bit 0 (BUSY)
IW09 Bit 8 (COMPLETE)
IW09 Bit 3 (FAIL)
IW0C Bit 0 (DEN)
IW0C Bit 1 (POSCOMP)
1 scan
The target position is updated every high-speed scan.
This interval is not constant.
IW0C Bit 1 (POSCOMP)
1 scan
OW08 = 4 (INTERPOLATE)
IW08 = 4 (INTERPOLATE)
IW09 Bit 0 (BUSY)
IW09 Bit 8 (COMPLETE)
IW09 Bit 3 (FAIL)
IW0C Bit 0 (DEN)
Alarms
This interval is not constant.