YASKAWA MP2100 Series User Manual page 169

7 Motion Parameters
7.2.2 Motion Setting Parameter Details
(8) Motion Command Options
OW 09
7-14
Motion Command Options
OW 09
Bit 0 Command Pause
The axis will decelerate to a stop if this bit is changed to 1 while an axis is moving dur-
ing positioning, external positioning, STEP operation, or speed reference.
While this bit is 1, the command is held. When this bit is changed to 0, the hold is can-
celed and positioning restarts. After the axis has been stopped, the Command Hold
Completed bit will turn ON in the Servo Module Command Status (monitoring
parameter IW
0: Command Pause OFF (default)
1: Command Pause ON
Bit 1 Command Abort
The axis will decelerate to a stop if this bit is changed to 1 while an axis is moving dur-
ing positioning, external positioning, zero point return, JOG operation, STEP opera-
tion, speed reference, or torque reference, and the remaining movement will be
canceled.
0: Command Abort OFF (default)
1: Command Abort ON
Bit 2 JOG/STEP Direction
Set the movement direction for JOG or STEP.
0: Forward (default)
1: Reverse
Bit 3
Home Direction
Set the direction to move for a zero point return. This setting is valid for zero point
returns using DEC1 + C, ZERO, DEC1 + ZERO, or phase-C.
0: Reverse (default)
1: Forward
Bit 4 Latch Zone Enabled
Disable/enable the area where the external signal is valid for external positioning
(called the latch zone).
This parameter writes the set values for OL
parameters (Pn820, Pn822) when it is enabled. This setting is valid each time a new
external positioning command is executed.
When this parameter is disabled, sets the SERVOPACK parameters Pn820 and Pn822
to the same value (zero).
0: Disabled (default)
1: Enabled
Always disable this parameter when sending latch commands (LATCH or ZRET)
other than those for external positioning.
■ Related Parameters
Latch Zone Lower Limit (setting parameter OL
(setting parameter OL
Bit 5 Position Reference Type
Specify the value set for the Position Reference Value (setting parameter OL
Always set this parameter to Incremental Addition Mode when using motion programs
or infinite axes. Refer to 7.3.4 Position References for details.
0: Incremental addition mode (default)
1: Absolute mode
Setting Range
−
09, bit 1).
2C)
Speed
Position Phase
Setting Unit Default Value
−
2A/OL 2C in the SERVOPACK
2A) and Latch Zone Upper Limit
Torque
0000H
1C).