YASKAWA MP2100 Series User Manual page 166

(2) Mode 1
OW 01
OW 01 Bit 0
Bit 3
Bit 4
(3) Mode 2
OW 02
OW 02 Bit 0
Mode 1
Setting Range
−
Deviation Abnormal Detection Error Level
Set whether excessively following errors are treated as warnings or as alarms.
0: Warning (default): Axis continues to operate even if an excessively following error
is detected.
1: Alarm: Axis stops operating when an excessive following error is detected.
■ Related Parameters
OL 22 Deviation Abnormal Detection Value
IB 020 Warning (Excessively Following Error)
IB 049 Error (Excessively Following Error)
Speed Loop P/PI Switch
Switch the SERVOPACK's speed loop between PI control and P control.
The setting is enabled when the move command or the SERVO ON command is sent.
0: PI control (default)
1: P control
Gain Switch
Switch the gain to the Second Gain set in the SERVOPACK parameters.
The setting is enabled when the move command or the SERVO ON command is sent.
There is no gain switch parameter in the Servo command option area in the SGD-N,
SGDB-N, or SGDH+NS100/NS115 SERVOPACKs, so the Gain Switch cannot be used.
0: Gain Switch OFF (default)
1: Gain Switch ON
Mode 2
Setting Range
−
Monitor 2 Enabled
Disable/enable Monitor 2 in the Servo User Monitor (setting parameter OW
bits 4 to 7)
0: Disabled (default)
1: Enabled
This bit is valid only when the communication mode is MECHATROLINK-I or
MECHATROLINK-II 17-byte Mode.
This bit is ignored for MECHATROLINK-II 32-byte Mode.
7.2 Motion Parameter Details
Phase Speed
Position
Setting Unit Default Value
−
Phase Speed
Position
Setting Unit Default Value
−
Torque
0000H
7
Torque
0000H
4E,
7-11