Yaskawa MP2200 Machine Controller - Manual (Page 441)

8.3 Motion Commands
8-25
( 4 ) Interpolation (INTERPOLATE)
The INTERPOLATE command positions the axis according to the target position that changes in
sync with the high-speed scan. The positioning data is generated by a ladder program.
[ a ] Operating Procedure
（ Note） The following position information is updated during command execution.
• Machine Coordinate Target Position (TPOS) (IL††0E)
• Target Position (CPOS) (IL††10)
• Machine Coordinate System Position (MPOS) (IL††12): MPOS is always equal to CPOS.
• Machine Coordinate Feedback Position (APOS) (IL††16): APOS is always equal to CPOS.
No. Execution Conditions Confirmation Method
1 There are no alarms. Both IL††02 and IL††04 are 0.
2 The Servo ON condition. IB††001 is ON.
3 Motion command execution has been completed. IW††08 is 0 and IB††090 is OFF.
Set the motion setting parameters.
• Target Position: OL††1C
• Acceleration/Deceleration Filter Type:
OW††03
• Speed feed forward compensation can be applied.
• Generate the positioning data each high-speed scan from the ladder
logic program.
• The travel speed is calculated automatically.
• The Command Pause (OB††090) cannot be used.
• The Command Abort (OB††091) cannot be used.
• Change a motion command to stop interpolation execution.
Execute the interpolation (INTERPOLATE)
motion command.
• Set OW††08 to 4.
Positioning starts.
• IW††08 will be 4 during positioning.
Change the Target Position (OL††1C) every
high-speed scan.
Positioning Completed
• IB††0C1 will turn ON.
Execute NOP motion command.
• Set OW††08 to 0.
0
OW 08 = 4
(INTERPOLATE)
IW
08 = 4
(INTERPOLATE)
IB 090 (BUSY)
IB 098 (COMPLETE)
IB 0C0 (DEN)
IB 0C1 (POSCOMP)
IB 0C3 (NEAR)
Position
Speed (%)
Time (t)