Yaskawa JAPMC-MC2300 - Manual (Page 198)

7.2 Motion Command Details
7.2.4 Interpolation (INTERPOLATE)
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( 3 ) Related Parameters
[ a ] Setting Parameters
[ b ] Monitoring Parameters
Parameter Name Setting
OW 00
Bit 0
Servo ON
Turns the power to the Servomotor ON and OFF.
1: Power ON to Servomotor, 0: Power OFF to Servomotor
Set this bit to 1 before setting the Motion Command (OW
08) to 4.
OW 03 Function Setting 1 Select the filter type.
OW 08 Motion Command The positioning starts when this parameter is set to 4.
OW 09
Bit 5
Position Reference
Type
Select the type of position reference.
0: Incremental addition mode, 1: Absolute mode
Set this bit before setting the Motion Command (OW
08) to 4.
OL 1C
Position Reference
Type
Set the target position for positioning. The setting can be updated every high-speed scan.
OL 1E
Width of Positioning
Completion
Set the width in which to turn ON the Positioning Completed bit (IW 0C, bit 1).
OL 20
NEAR Signal
Output Width
Set the range in which the NEAR Position bit (IW 0C, bit 3) will turn ON.
The NEAR Position bit will turn ON when the absolute value of the difference between
the reference position and the feedback position is less than the value set here.
OW 3A Filter Time Constant
Set the acceleration/deceleration filter time constant.
Exponential acceleration/deceleration or a moving average filter can be selected in the
Function Setting 1 (OW
03, bits 8 to B). Change the setting only after pulse distribu-
tion has been completed for the command (IW 0C, bit 0 is ON).
Parameter Name Monitor Contents
IW 00
Bit 1
Running
(At Servo ON) Indicates the Servo ON status.
ON: Power supplied to Servomotor, OFF: Power not supplied to Servomotor
IL 02 Warning Stores the most current warning.
IL 04 Alarm Stores the most current alarm.
IW 08
Motion Command
Response Code Indicates the motion command that is being executed.
The response code is 4 during INTERPOLATE command execution.
IW 09
Bit 0
Command Execution
Flag
Always OFF for INTERPOLATE command.
IW 09
Bit 1
Command Hold
Completed
Always OFF for INTERPOLATE command.
IW 09
Bit 3
Command Error
Completed Status
Turns ON if an error occurs during INTERPOLATE command execution.
The axis will decelerate to a stop if it is moving. Turns OFF when another command is exe-
cuted.
IW 09
Bit 8
Command Execution
Completed
Always OFF for INTERPOLATE command.
IW 0C
Bit 0
Discharging
Completed Turns ON when pulse distribution has been completed for the move command.
Turns OFF during execution of a move command.
IW 0C
Bit 1
Positioning
Completed Turns ON when pulse distribution has been completed and the current position is within
the Width of Positioning Completion. OFF in all other cases.
IW 0C
Bit 3
NEAR Position
The operation depends on the setting of the NEAR Signal Output Width (setting parameter
OL
20).
OL 20 = 0: Turns ON when pulse distribution has been completed (DEN = ON).
Otherwise, it turns OFF.
OL 20 ≠ 0: Turns ON when the absolute value of the difference between MPOS
(IL 12) and APOS (IL 16) is less than the NEAR Position Set-
ting even if pulse distribution has not been completed.
OFF in all other cases.