YASKAWA MP2100 Series User Manual page 239

8 Motion Commands
(6) Related Parameters
(a) Setting Parameters
Parameter
OB 000
OB 013
OW 03
OW 08
OB 091
OB 095
OL 36
OL 38
OW 3A
OW 3D
(b) Monitoring Parameters
Parameter
IB 001
IL 02
IL 04
IW 08
IB 090
IB 091
IB 093
IB 098
IB 0C0
IB 0C3
IB 0C4
IB 0C5
8-30
Name
Servo ON Turn the power to the Servomotor ON and OFF.
1: Power ON to Servomotor, 0: Power OFF to Servomotor
Turn ON the power before setting the Motion Command Code (OW
Speed Loop Switches the speed control loop between PI control and P control.
P/PI Switch
0: PI control, 1: P control
Function 1
Set the speed unit, acceleration/deceleration unit, and filter type.
Motion Command The zero point return operation starts when this parameter is set to 3. The operation
will be canceled if this parameter is set to 0 during ZRET command execution.
Command Abort The axis will decelerate to a stop if this bit is set to 1 during zero point return
operation.
Position Reference Switch the type of position reference.
Type 0: Incremental addition mode, 1: Absolute mode
Set this parameter before setting the Motion Command Code (OW
Linear Acceleration
Set the rate of acceleration or acceleration time constant for positioning.
Time
Linear Deceleration Set the rate of deceleration or deceleration time constant for positioning.
Time
S-Curve Accelera- Set the acceleration/deceleration filter time constant. Exponential acceleration/
tion Time 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
Home Window
Set the width in which the Zero Point Position bit (IB
Name
Servo ON Indicates the Servo ON status.
ON: Power supplied to Servomotor, OFF: Power not supplied to Servomotor
Warning Stores the most current warning.
Alarm
Stores the most current alarm.
Servo Command Indicates the motion command that is being executed.
Type Response
The response code will be 3 during ZRET command execution.
Command Executing
Turns ON during zero point return operation. Turns OFF when ZRET command
execution has been completed.
Hold Completed Always OFF for ZRET command.
Command Error End Turns ON if an error occurs during ZRET command execution. The axis will
decelerate to a stop if it is moving. Turns OFF when another command is executed.
Command Turns ON when ZRET command execution has been completed.
Completed
Distribution
Turns ON when pulse distribution has been completed for the move command.
Completed Turns OFF during execution of a move command.
Position Proximity The operation depends on the setting of the Positioning Completed Width 2
(setting parameter OL
OL
OL
OFF in all other cases.
Zero Point Position Turns ON if the current position after the zero point return operation has been
completed is within the Zero Point Position Output Wide from the zero point
position. Turns OFF is the current position is not within this width.
Zero Point Return Turns ON when the zero point return has been completed.
Completed
Setting
0C0 is ON).
Monitor Contents
20).
20 = 0: Turns ON when pulse distribution has been completed (DEN =
ON).
20≠0: Turns ON when MPOS - APOS< Position Proximity Setting
even if pulse distribution has not been completed.
08) to 3.
08) to 3.
03.
0C4) will turn ON.