Yaskawa SGDS Sigma III Servo Amplifier - Manual (Page 161)

6 MECHATROLINK II Communications
6.3.24 Interpolation Feed (INTERPOLATE: 34H)
6-30
6.3.24 Interpolation Feed (INTERPOLATE: 34H)
Byte INTERPOLATE Description
Command Response
1 34H 34H Processing
classifications Motion command
group Synchronization
classifications Synchronous
2 ALARM Processing time Within communi-
cations cycle Subcommand Can be used
3 OPTION STATUS • Starts interpolation feeding. Speed feed forward (VFF, unit [reference unit/
sec]) can be specified simultaneously.
• Can be used during phases 2 and 3.
• A warning will occur and the command will be ignored in the following cases.
- During phases other than phase 3:
Command warning 1 (A.95A)
- If the SERVOPACK is Servo OFF:
Command warning 1 (A.95A)
- If the output speed (difference from the previous target position (TPOS)
exceeds the limit: Data setting warning 2 (A.94B)
- If VFF is not within the setting range: Parameter setting warning (A.94)
- OPTION field can be selected. Refer to 6.5.2 Option Field Specifications:
OPTION for details.
• Use DEN (output complete) to confirm the completion of position reference
output.
4
5
TPOS MONITOR1
6
7
8
9
VFF MONITOR2
10
11
12
13
SEL_MON 1/2 SEL_MON 1/2
14 IO_MON
15
16
WDT RWDT
17 For
subcommands.
Refer to 6.4
Subcommands. For
subcommands.
Refer to 6.4
Subcommands.
18
19
20
21
22
23
24
25
26
27
28
29