YASKAWA SVC - Sample Programming

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8.2 Interpolation of Two Axes

8.2.3 Sample Programming

8-8

8.2.3

Sample Programming

This section provides sample programming in which linear interpolation and circular interpola-

tion are programmed with a motion program.

Motion Program

Linear interpolation and circular interpolation are programmed in one motion program. Position

references are incremental values, and the interpolation operations are repeated five times. This

motion program has been registered as MPM001.

Main Page

Default Chapter22
- Table of Contents22
- Basic Information on22
- Machine-Specific24
- Making Settings for Motion26
- Stepping Motor Drive Operation27
- Basic Information on Motion Control29
Types of Programs30
Types of Motion Control31
- Position Control31
- Phase Control32
- Torque Control32
- Speed Control32
- Basic Information on Motion Control Function Modules33
Overview35
- SVC Function Module35
- SVR Function Module35
- Conceptual Diagram36
- External Appearance and Indicators37
Specifications38
- Motion Control Function Module Specifications38
- MECHATROLINK-III Communications Specifications for the SVC Function Module39
- SVC Function Module Specifications40
- SVR Function Module Specifications42
- Applicable Versions for Additional Functions43
System Configuration Example44
Topologies46
- Cascade Connections46
- Star Connections47
- Mixed Cascade/Star Connections48
MECHATROLINK Transmission Cycle and the Number of Connected Slave Stations49
Synchronization of the MECHATROLINK-III Transmission Cycle and High-Speed Scan Cycle51
- Synchronization Conditions51
- Timing at Which the MECHATROLINK Transmission Cycle and the High-Speed Scan Cycle Are Synchronized51
- Changing Synchronization Cycles51
- Reference Output Timing52
- Precautions When Combining with Other Modules53
- Parameters for Motion Control54
Types of Motion Parameters55
Motion Parameter Registers56
Motion Parameter Tables60
- Fixed Parameter Table60
- Setting Parameter Table63
- Monitor Parameter Table71
Motion Parameter Details80
- Fixed Parameter Details80
- Setting Parameter Details89
- Monitor Parameter Details121
Automatically Updated Parameters139
- Automatically Updated Parameters When a MECHATROLINK Connection Is Established139
- Automatically Updated Parameters When a Setting Parameter Is Changed141
- Automatically Updated Parameters When a Motion Command Is Executed142
- 3.5.4 Parameters Automatically Updated During Self Configuration143
- Motion Control Program Commands and Instructions144
Commands146
- Motion Commands146
- Motion Subcommands149
Motion Command Details150
- POSING (Positioning)150
- EX_POSING (External Positioning)156
- ZRET (Zero Point Return)163
- INTERPOLATE (Interpolation)185
- LATCH (Latch)189
- FEED (Jog)193
- STEP (STEP Operation)198
- ZSET (Set Zero Point)203
- ACC (Change Acceleration Time)205
- DCC (Change Deceleration Time)207
- SCC (Change Filter Time Constant)209
- CHG_FILTER (Change Filter Type)211
- KVS (Change Speed Loop Gain)213
- KPS (Change Position Loop Gain)215
- KFS (Change Feedforward)217
- PRM_RD (Read SERVOPACK Parameter)219
- PRM_WR (Write SERVOPACK Parameter)221
- ALM_MON (Monitor Alarms)223
- ALM_HIST (Monitor Alarm History)225
- ALMHIST_CLR (Clear Alarm History)227
- ABS_RST (Reset Absolute Encoder)229
- VELO (Issue Speed Reference)232
- TRQ (Issue Torque/Force Reference)237
- PHASE (Issue Phase Reference)242
- KIS (Change Position Loop Integral Time Constant)246
- PPRM_WR (Write Non-Volatile Parameter)248
- EX_FEED (Jog with External Positioning)250
- MEM_RD (Read Memory)256
- MEM_WR (Write Memory)258
- PMEM_RD (Read Non-Volatile Memory)260
- PMEM_WR (Write Non-Volatile Memory)262
- MLTTRN_SET (Multiturn Limit Setting)264
Motion Subcommand Details267
- NOP (no Command)267
- PRM_RD (Read SERVOPACK Parameter)268
- PRM_WR (Write SERVOPACK Parameter)270
- INF_RD (Read Device Information)272
- SMON (Monitor Status)274
- FIXPRM_RD (Read Fixed Parameter)276
- FIXPRM_CHG (Change Fixed Parameter)278
Changing the Command280
- Motion Command and Subcommand Execution Judgment Table280
- Operation after Changing the Motion Command285
Motion Language Instructions331
- Machine-Specific Motion Control342
Motion Parameters344
- Reference Unit344
- Electronic Gear344
- 5.1.2 Electronic Gear345
- Axis Selection346
- Position References347
- Speed References350
- Acceleration/Deceleration Settings352
- Acceleration/Deceleration Filter Settings355
- Linear Scale Pitch and Rated Speed356
Absolute Encoders358
- Absolute Position Detection358
- Absolute Encoder System Startup359
- Resetting the Absolute Encoder361
- Using the SERVOPACK to Reset the Absolute Encoder365
- Reading Position Data When the Power Supply Is Turned on366
- 5.2.6 Position Management Method for each Machine Operation Type367
Multiturn Limit388
- Check Items before Setup388
- Setting Procedure388
- Programming Example390
- Related Parameters392
- Multiturn Limit Setting Disagreement Detection Timing392
- Checking for a Multiturn Limit Setting Disagreement392
- Clearing the Warning393
Absolute Encoders with 24-Bit Resolution394
- Encoder with 24-Bit Resolution and Electronic Gear Ratio Settings394
- Self Configuration and Encoder Resolution395
- Possible Travel Distances and Deceleration Times for the MP3000396
Controlling Vertical Axes400
- SERVOPACK Holding Brake400
- Connecting to a Σ-V or Σ-7 Servo Drive401
Overtravel403
- Overtravel Input Signal Connections403
- Parameter Settings404
Software Limits406
- Software Limit Parameter Selection406
- Related Parameters407
- Comparison with the MP2000-Series SVC-01 Module407
- The Effects of Software Limits408
- Processing after an Alarm Occurs408
Modal Latching409
- Latch Request409
- Canceling a Latch Request409
- Latch Signals409
- Related Parameters409
- 6.4.4 Related Parameters410
Waiting for Slave Detection with the SVC Function Module411
- Overview411
- Applicable Versions411
- Operating Procedure412
- Timing to Complete Slave Detection413
- Indicators When the Power Is Turned on414
- Precautions414
Slave CPU Synchronization415
- Overview415
- Applicable Versions and Execution Conditions416
- Setting Procedure417
- I/O Registers421
- Execution Flow for Slave CPU Synchronization422
- Procedure to Turn on Power423
- Confirmation that the Slave CPU Is Synchronized423
- Handling Input Errors424
- Effect on Application Program425
- Operation of Slave MP3000426
- 6.6.11 Precautions427
Multiturn Limit Setting Disagreement Detection428
- Applicable Versions428
- Related Parameters429
- Multiturn Limit Setting Disagreement Detection Timing429
- Checking for a Multiturn Limit Setting Disagreement429
- Clearing the Warning429
- 6.7.5 Clearing the Warning430
Precautions When Using Σ-7-Series Servopacks431
- 6.8.1 MP3000 Versions that Support the Σ-7-Series Servopacks431
- Σ-7-Series SERVOPACK Electronic Gear Ratio and MP3000 Settings432
- Link Assignments433
- Number of Pulses Per Motor Rotation433
- Self Configuration433
- 6.8.6 Operating Specifications When Using an MP3000 Controller that Supports the Σ-7-Series Servopacks434
- Operating Specifications When Using an MP3000 Controller that Does Not Support the Σ-7-Series Servopacks436
- Making Settings for Motion Control with the MPE720437
Module Configuration Settings438
- Settings for Motion Control Function Modules438
- Deleting Unused Motion Control Function Modules441
MECHATROLINK Communications Settings443
- Displaying the MECHATROLINK Detail Definition Dialog Box443
- MECHATROLINK Detail Definition Dialog Box Details444
Setting Motion Parameters455
- Displaying and Setting Motion Parameters455
- Precautions after Making Settings458
SERVOPACK Parameter Data Flow459
- When the Power Supply Is Turned on459
- Normal Operation460
- When the SERVOPACK Tab Page Is Opened460
- When SERVOPACK Parameters Are Saved461
- When Saving Data to Flash Memory461
One Axis Positioning463
- Machine Configuration463
- Related Parameters463
- Sample Programming464
Interpolation of Two Axes467
- Machine Configuration467
- Related Parameters468
- Sample Programming469
Torque Control471
- Machine Configuration471
- Related Parameters471
- Sample Programming472
Phase Control473
- Machine Configuration473
- Related Parameters474
- Sample Programming475
Overview478
Connection Specifications479
Parameter Support Table480
- Fixed Parameter Table480
- Setting Parameter Table483
- Monitor Parameter Table492
Link Assignments501
Common Parameters502
Connection Specifications504
Setup Procedure505
- Check Items before Setup505
- 10.2.2 Inverter Settings506
- 10.2.3 I/O Options514
- 10.2.3 I/O Options515
Precautions for Inverter Operation516
Main Commands and Subcommands521
- List of Main Commands and Subcommands521
- Applicable Combinations of Main Commands and Subcommands522
- Main Command Details523
- 10.4.4 Subcommand Details530
Motion Parameter Details537
- Fixed Parameter List537
- 10.5.2 Setting Parameter List538
- 10.5.3 Monitor Parameter List550
- Inverter Output Data Details561
- 10.5.5 Inverter Input Data Details562
Alarm and Warning Codes for Inverter566
- 10.6.1 A1000566
- 10.6.2 V1000570
- 10.6.2 V1000572
- Appendices574
- Appendices Provides Supplemental Information Related to Motion Control574
Control Block Diagrams575
- 11.1.1 Control Block Diagram for Position Control575
- 11.1.2 Control Block Diagram for Phase Control577
- 11.1.3 Control Block Diagram for Torque Control579
- 11.1.4 Control Block Diagram for Speed Control581
- System Registers583
- MECHATROLINK-III I/O Module Settings586
- Setting Fixed Parameters According to Encoder Type and Axis Type609
- Common Parameters and SERVOPACK Parameters611
- Terminology613
Index622
Revision History622

YASKAWA SVC - Sample Programming

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