Yaskawa MP940 - Manual (Page 475)

11.4 Position Control Using Motion Commands
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The example in the above illustration has been greatly simplified. In actual operation,
each register can be controlled from the user program.
11.4.5 Interpolation (INTERPOLATE)
„ Overview
This command performs interpolation feeding using the position data distributed from the
CPU Module.
„ Details
Use the following procedure to perform interpolation feed operations.
1. Set the initial values for the motion fixed parameters and the motion setting parameters
according to the user's machine.
2. Set the Position Control Mode (PCON) (bit 2 of OWC000).
3. Set the Position Reference Setting (OLC012).
If required, set any motion setting parameters to use with interpolation (INTERPO-
LATE), such as the Filter Constant (OWC014).
4. Set Servo ON (RUN) to ON (bit 0 of OWC001).
5. Set interpolation (INTERPOLATE=4) in the motion command code (OWC020).
PCON
RUN
0
POSCOMP
1 Set the motion fixed parameters.
Set the motion setting parameter initial
values
2 Set the position control mode (PCON).
3 Set the motion setting parameters.
4 Set Servo ON (RUN) to ON.
5 Execute the interpolation (INTERPOLATE)
motion command.
6 Interpolation feed operations start.
7 Stop position reference (OLC012) refresh-
ing.
8 Positioning completed signal (POSCOMP)
turned ON
Motion command
(INTERPOLATE)
Speed
(%)
Position
Time (t)
Positioning completed range
: System execution
: User setting