YASKAWA MP2100 Series User Manual page 168

(6) Function 3
OW 05
OW 05 Bit 1
Bit B
(7) Motion Command
OW 08
Set motion commands.
0: NOP
1: POSING
2: EX_POSING
3: ZRET
4: INTERPOLATE
5: ENDOF_INTERPOLATE
6: LATCH
7: FEED
8: STEP
9: ZSET
10: ACC
11: DCC
12: SCC
13: CHG_FILTER
14: KVS
15: KPS
16: KFS
17: PRM_RD
18: PRM_WR
19: ALM_MON
20: ALM_HIST
21: ALMHIST_CLR
22: ABS_RST
23: VELO
24: TRQ
25: PHASE
26: KIS
Refer to Chapter 8 Motion Commands for details.
Function 3
Setting Range
−
Close Position Loop Using OL
Disables/enables phase reference generation processing when executing phase refer-
ence commands. Enable this processing when an electronic shaft is being used, and
disable it when a electronic cam is being used.
0: Enabled (default)
1: Disabled
Speed feed forward control cannot be used for the SGD-N or SGDB-N SERVOPACK,
so Close Position Loop Using OL
INPUT Signal for Zero Point Return
Use this bit as an input signal for the INPUT & C pulse or INPUT Only method.
0: INPUT signal OFF (default)
1: INPUT signal ON
Motion Command
Setting Range
0 to 26
No command
Positioning
External Positioning
Zero Point Return
Interpolation
Reserved by system.
Latch
JOG Operation
STEP Operation
Zero Point Setting
Change One-step Linear Acceleration Time Constant
Change One-step Linear Deceleration Time Constant
Change Filter Time Constant
Change Filter Type
Change Speed Loop Gain
Change Position Loop Gain
Change Feed Forward
Read SERVOPACK Parameter
Write SERVOPACK Parameter
Monitor SERVOPACK Alarms
Monitor SERVOPACK Alarm History
Clear SERVOPACK Alarm History
Reset Absolute Encoder
Speed Reference
Torque Reference
Phase Reference
Change Position Loop Integration Time Constant
7.2 Motion Parameter Details
Phase
Position
Setting Unit
−
16
16 cannot be used.
Phase
Position
Setting Unit
−
Speed
Torque
Default Value
0000H
Speed Torque
Default Value
0
7
7-13