Motion Setting Parameter Details - YASKAWA MP2100 Series User Manual

7.2.2 Motion Setting Parameter Details

The motion setting parameters are listed in the following tables.
Note: : The labels shown in reverse type indicate that the parameter is enabled during the
Position
corresponding control modes.
(1) RUN Commands
OW 00
OW 00 Bit 0
Bit 1
Bit 4
RUN Commands
Setting Range
−
Servo ON
Set whether or not to turn ON (excite) the SERVOPACK.
0: Servo OFF (default)
1: Servo ON
Machine Lock
During the machine lock mode, the Target Position (CPOS) (monitoring parameter
IL 10) will be updated but no movement will occur on the axis. Changes to the
machine lock mode are valid after all pulses have been distributed. The machine lock
mode cannot be changed during speed or torque control.
0: Machine lock mode released (default)
1: Machine lock mode
Latch Request
Store the current position when the latch signal turns ON in the Machine Coordinate
Latch Position (monitoring parameter IL
When latch detection is completed, the Latch Completed bit will turn ON in the Position
Management Status (monitoring parameter IW
To perform latch detection again, change this bit from 0 to 1.
Set the latch signal to be used in the Latch Input Signal Type of Function 2 (setting
parameter OW 04, bits 0 to 3).
This function is achieved using the Servo command expansion area and can be executed
only with the MECHATROLINK-II, 32-byte Mode communication method. Do not
change this bit to 1 during execution of the motion commands for zero point return,
external positioning, or latching. Doing so may result in a warning at the SERVOPACK.
OB 004
Latch signal
IB 0C2
Conditions for Latch Request ON
• Latch Completion Signal (IB
• The time prior to the latch signal turning ON is more than the required latch pro-
cessing time.
Note: Turn ON the Latch Request according to the required latch processing time
obtained from the following equation.
Latch processing time = Two scans + MECHATROLINK communication cycle
+ SERVOPACK processing time (4 ms max.)
0: Latch request OFF (default)
1: Latch request ON
7.2 Motion Parameter Details
Speed
Position Phase
Setting Unit Default Value
−
18).
0C, bit 2).
0C2) is OFF
Torque
0000H
7
7-9