Yaskawa MP920 Motion Module - Manual (Page 98)

2 Motion Control
2.4.5 Interpolation (INTERPOLATE, END_OF_INTERPOLATE)
2-72
„ User Programming Example: Interpolation
Ladder Logic Program Example
Fig. 2.21 Programming Example for INTERPOLATE and END_OF_INTERPOLATE
The example in the above illustration has been greatly simplified. In actual operation, each
register can be controlled from the user program.
Set the position control mode to ON. H0104
RUNMOD
OWC000 1 0000
IB00100
RUNPB
IB00304
OBC0010 1 0002
1 0004 DB000000
DB000001
DB000001
1 0005
1 0008
IFON 1 0009
00004 OWC020 2 0010
OLC012 OLC012 2 0012 ++ DL00010i
2 0015 +00002
IEND 1 0018
2 0019 ≥ 00022
DB000001
DB000000
DB000000 1 0022
IFON 1 0023
00000 2 0024
00005 OWC020 2 0026
IEND 1 0028
00100 DL00010 1 0029
00200 DL00012 1 0031
00300 DL00014 1 0033
00200 DL00016 1 0035
00100 DL00018 1 0037
00000 DL00020 1 0039
-00100 DL00022 1 0041
-00200 DL00024 1 0043
-00300 DL00026 1 0045
-00200 DL00028 1 0047
-00100 DL00030 1 0049
DEND 0 0051
Send RUN command to driver.
Execute INTERPOLATE command.
Set the position reference.
Check for completion of specified reference
distribution.
Execute END_OF_INTERPOLATE
command.
Increment data for position reference each
scan.