YASKAWA MP2100 Series User Manual page 221

8 Motion Commands
Parameter
OL 2C Latch Zone Upper
Limit
OL 20 Positioning Complet-
ed Width 2
OL 36 Linear Acceleration
Time
OL 38 Linear Deceleration
Time
OW 3A S-Curve Accelera-
tion Time
OL 46 External Positioning
Move Distance
(b) Monitoring Parameters
Parameter
IB 001 Servo ON
IL 02 Warning
IL 04 Alarm
IW 08 Servo Command
Type Response
IB 090 Command Executing
IB 091 Hold Completed
IB 093 Command Error End
IB 098 Command Completed Turns ON when EX_POSING command execution has been completed.
IB 0C0 Distribution
Completed
IB 0C1 Positioning
Completed
IB 0C3 Position Proximity
IL 18 Machine Coordinate
Latch Position
8-12
Name
Set the boundary in the positive direction of the area in which the external positioning
signal is to be valid.
Set the range in which the Position Proximity bit (IB
Proximity bit will turn ON when the absolute value of the difference between the
reference position and the feedback position is less than the value set here.
Set the rate of acceleration or acceleration time constant for positioning.
Set the rate of deceleration or deceleration time constant for positioning.
Set the acceleration/deceleration filter time constant. Exponential acceleration/
deceleration or a moving average filter can be selected in OW
Change the setting only after pulse distribution has been completed for the command
(IB 0C0 is ON).
Set the moving amount to move after the external positioning signal is input.
Name
Indicates the Servo ON status.
ON: Power supplied to Servomotor, OFF: Power not supplied to Servomotor
Stores the most current warning.
Stores the most current alarm.
Indicates the motion command that is being executed.
The response code is 2 during EX_POSING command execution.
The Command Executing bit will turn ON during EX_POSING command execution and
then turn OFF when command execution has been completed.
Turns ON when a deceleration to a stop has been completed as the result of to 1 the
Command Pause bit (OB
Turns ON if an error occurs during EX_POSING command execution. The axis will
decelerate to a stop if it is moving. Turns OFF when another command is executed.
Turns ON when pulse distribution has been completed for the move command.
Turns OFF during execution of a move command.
Turns ON when pulse distribution has been completed and the current position is within
the Positioning Completed Width. OFF in all other cases.
The operation depends on the setting of the Positioning Completed Width 2 (setting
parameter OL
OL 20 = 0: Turns ON when pulse distribution has been completed (DEN = ON).
20≠0: Turns ON when MPOS - APOS< Position Proximity Setting even if
OL
OFF in all other cases.
Stores the current position in the machine coordinate system when the latch signal turned
ON.
Setting
Monitor Contents
090) to 1 during EX_POSING command execution.
20).
pulse distribution has not been completed.
(cont'd)
0C3) will turn ON. The Position
03.