YASKAWA MP2100 Series User Manual page 173

7 Motion Parameters
7.2.2 Motion Setting Parameter Details
(16) Position Reference Type
Set the position reference.
This parameter is used by the following commands.
1: POSING
2: EX_POSING
4: INTERPOLATE
6: LATCH
■ Related Parameters
OW
(17) Positioning Completed Width
This bit shows the set value of a SERVOPACK parameter. Refer to Appendix B.1 Parameters Updated when a Connection
is Established (MP2100/MP2100M to SERVOPACK) for details.
When the Positioning Completed Signal (IB
tion control, the Positioning Completed Signal (IB
Set values that are suitable for all machines in the system. If the value is too small, a long time will be required for position-
ing to complete.
■ Related Parameters
Fixed Parameter 4: Command Unit
Fixed Parameter 5: Number of Decimal Places
Fixed Parameter 6: Command Units per Revolution
Fixed Parameter 8: Gear Ratio [MOTOR]
Fixed Parameter 9: Gear Ratio [LOAD]
OW
IB
IB
7-18
Position Reference Type
OL 1C
Positioning
External Positioning
Interpolation
Latch
09, bit 5: Position Reference Type
Positioning Completed Width
OL 1E
Speed
Position Error
(IL 1A)
Positioning
Completed Signal
(IB 0C1)
2E: Position Loop Gain
0C0: Distribution Completed (DEN)
0C1: Positioning Completed (POSCOMP)
Setting Range
31 31
−2 −1
to 2
Setting Range
0 to 65535
2C7) turns ON after position reference distribution has completed for posi-
0C1) turns ON.
Reference
OL
Position
Phase
Setting Unit
Reference unit
Position Phase
Setting Unit
Reference unit
Motor speed
Distribution completed
1E
Speed
Torque
Default Value
0
Speed
Torque
Default Value
100