Yaskawa Sigma-5 User Manual: MECHATROLINK-II Commands - Manual (Page 74)

4.2 Motion Commands Details
4-9
4
Motion Commands for Operation
4.2.4 Interpolation Feeding (INTERPOLATE: 34H)
(1) INTERPOLATE Command (34H)
The INTERPOLATE command is used to start interpolation feeding. Speed feed forward and torque (force)
feed forward can be specified simultaneously.
Byte
INTERPOLATE
Description
Command Response
1 34H 34H
Phases in
which the
command can
be executed
Phase 3
Synchronization
classification
Synchronous
command
2 ALARM
Processing
time
Within commu-
nications cycle
Subcommand Can be used
3
OPTION STATUS
• OPTION field can be selected.
• Interpolation feeding is performed by specifying the target position
(TPOS) every communications cycle.
The target position (TPOS) is a signed 4-byte data.
Note: The target position is not an incremental value (travel amount), but
the absolute position in the reference coordinate system.
• The speed feed forward (VEF [reference units/s]) is a signed 4-byte data.
• Either torque (force) feed forward (TFF) or torque (force) limit (TLIM)
can be used. It can be selected by setting Pn81F and Pn002.
- TFF setting range: A signed 2-byte data [maximum motor torque
(force)/ 4000H]
Use the ADJ command to obtain the maximum motor torque (force).
- TLIM setting range: 0 to 4000H [maximum motor torque (force)/
4000H]
(If a value between 4000H and FFFFH is set, the maximum motor
torque (force) will be applied as the limit.
• Use DEN (output complete) to confirm the completion of position refer-
ence output.
• When a command in execution is switched to another command, the feed
forward value (VFF or TFF) will be cleared.
• A warning will occur and the command will not be executed in the fol-
lowing cases.
- If this command is used in communications phase other than phase 3:
Command warning 1 (A.95A)
- If this command is sent while the servo is OFF: Command warning1
(A.95A)
- The travel amount (Target position (TPOS) - Current position (IPOS))
exceeds the limit value: Data setting warning 2 (A.94B)
- When using SigmaWin or a digital operator for motor operations such
as JOG: Command warning 1 (A.95A)
4
5
TPOS MONITOR1
6
7
8
9
VFF MONITOR2
10
11
12
13 SEL_MON1/2 SEL_MON1/2
14
TFF/TLIM IO_MON
15
16 WDT RWDT
17
Subcommand
area
Subcommand
area
18
19
20
21
22
23
24
25
26
27
28
29