Yaskawa MP920 User's Manual Design - Manual (Page 184)

4 Motion Control
4.4.5 Interpolation (INTERPOLATE, END_OF_INTERPOLATE)
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4.4.5 Interpolation (INTERPOLATE, END_OF_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 OW††00).
3. Set the Position Reference Setting (OLC††12).
If required, set any motion setting parameters to use with interpolation (INTERPO-
LATE), such as the Filter Constant (OW††14).
4. Set Servo ON (RUN) to ON (bit 0 of OW††01).
For a PO-01 Module, set Excitation ON (RUN) to ON.
PCON
RUN
(%)
0
POSCOMP
2. Set the position control mode (PCON).
3. Set the motion setting parameters.
4. Set Servo ON (RUN) to ON.
6. Interpolation feed operations start.
7. Stop position reference (OLC012) refreshing.
Time (t)
Positioning completed range
Motion command
(INTERPOLATE)
Position
Speed
: System execution
: User setting
1. Set the motion fixed parameters.
Set the motion setting parameter initial values.
5. Execute the interpolation (INTERPOLATE)
motion command.
8. Positioning completed signal (POSCOMP)
turned ON. .