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9. INTERFACE MODE
9.5.5 Control method for interrupt output invalid
Interrupt output invalid is compatible with position control mode only.
POINT
When the update of the latest position command buffer number is delayed
etc. due to the load, etc. on the user program, and the latest position
command buffer number and transmit position command buffer number
continue to get closer, the same position command details are transmitted to
the servo amplifier, and over time, an axis that was in operation, begins to
output a command of speed 0.
When controlling with interrupt output invalid, set the Interface mode
maximum buffer number (parameter No.023F) to 1 or more. When set to 0,
the position command buffer cannot be updated and thus cannot control.
(The same position command is transmitted to the servo amplifier)
The following is the control method for when interrupt output is invalidated (ITS is turned off).
The user program updates the latest position command buffer number by checking the latest position
command buffer number and transmit position command buffer number at any given time, and setting the
position command for each command data update cycle to an empty buffer. At this time, do not change the
contents of the buffers between the transmit position command buffer number and latest position command
buffer number.
The position board transmits the contents of the next buffer every command data update cycle, and updates
the transmit position command buffer number.
Note. When a value outside the range is set to the latest position command buffer number, a latest command buffer number setting
error (operation alarm 2D) is output, and it stops.