6.1 Position Control
6.1.1 Interpolation Command
6-2
6.1
Position Control
This section describes the parameters related to interpolation and positioning in position con-
trol.
6.1.1
Interpolation Command
When sending the INTERPOLATE command, the speed feedforward and torque feedforward
values can be specified along with the target position.
The sum of the speed feedforward value specified by the INTERPOLATE command and the
(speed) feedforward value set in the parameters (common parameter 64 (Pn109) and Pn10A)
will be applied.
Specifying the speed feedforward value using the INTERPOLATE command may lead to over-
shooting if the settings of the following parameters (common parameter 64 (Pn109) and
Pn10A) are inappropriate. When specifying the speed feedforward value using the INTERPO-
LATE command, set the parameters to "0" (factory setting).
If the speed feedforward and torque feedforward values are specified using the INTERPOLATE
command, the values will be cleared when another command is executed.
6.1.2
Positioning Command
There are the following two kinds of acceleration/deceleration method for positioning com-
mands (POSING, FEED, EX_FEED, EX_POSING, and ZRET).
•
Using the acceleration/deceleration specified by the command
•
Using the acceleration/deceleration set in the parameters
Using the Acceleration/Deceleration (ACCR and DECR)
Specified by the Command
When using the acceleration/deceleration (ACCR and DECR) specified by the command, posi-
tioning will be performed with 1-step acceleration/deceleration.
When both the acceleration and deceleration (ACCR and DECR) are set to "0" in the command,
positioning will be performed with 2-step acceleration/deceleration according to the parameter
settings.
Common
Parameters
Name
Data Size
(Byte)
Setting
Range
Unit
Factory
Setting
64
Feedforward Compensation
4
0 to 100
%
0
Parameter
Name
Data Size
(Byte)
Setting
Range
Unit
Factory
Setting
Pn109
Feedforward
2
0 to 100
1%
0
Pn10A
Feedforward Filter Time Constant
2
0 to 64000
0.01 ms
0