Yaskawa MP2200 Machine Controller - Manual (Page 288)

5 Motion Commands
5.2.4 Interpolation (INTERPOLATE)
5-58
( 4 ) Timing Charts
[ a ] Normal Execution
[ b ] Execution when an Alarm Occurs
IB††0C3 Position Proximity
The operation depends on the setting of the Positioning Completed Width 2 (setting
parameter OL††20).
OL††20 = 0: Turns ON when pulse distribution has been completed (DEN =
ON).
OL††20
≠0: Turns ON when MPOS - APOS< Position Proximity Setting even
if pulse distribution has not been completed.
OFF in all other cases.
OW 08 = 4 (INTERPOLATE)
IW 08 = 4 (INTERPOLATE)
IB 090 (BUSY)
IB 098 (COMPLETE)
IB 093 (FAIL)
IB 0C0 (DEN)
1 scan
IB 0C1 (POSCOMP)
Undefined length of time
The target position is refreshed every high-speed scan.
Undefined length of time
IB 0C1 (POSCOMP)
1 scan
Alarm
OW 08 = 4(INTERPOLATE)
IW 08 = 4(INTERPOLATE)
IB 090 (BUSY)
IB 098 (COMPLETE)
IB 093 (FAIL)
IB 0C0 (DEN)