YASKAWA MP2100 Series User Manual page 243

8 Motion Commands
(3) Related Parameters
(a) Setting Parameters
Parameter
OB 000
OW 03
OW 08
OB 095
OL 1C
OL 1E
OL 20
OL 30
OL 36
OL 38
OW 3A
(b) Monitoring Parameters
Parameter
IB 001
IL 02
IL 04
IW 08
IB 090
IB 091
IB 093
IB 098
IB 0C0
IB 0C1
IB 0C3
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Name
Servo ON
Turns the power to the Servomotor ON and OFF.
1: Power ON to Servomotor, 0: Power OFF to Servomotor
Set this bit to 1 before setting the Motion Command (OW
Function 1
Set the speed unit, acceleration/deceleration unit, and filter type.
Motion Command
The positioning starts when this parameter is set to 4.
Position Reference Switch the type of position reference.
Type 0: Incremental addition mode, 1: Absolute mode
Set this parameter before setting the Motion Command (OW
Position Reference Set the target position for positioning. The setting can be changed every high-
Type speed scan.
Positioning Set the width in which to turn ON the Positioning Completed bit (IB
Completed Width
Positioning Complet- Set the range in which the Position Proximity bit (IB
ed Width 2 Position 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.
Speed Feed Forward
Set the feed forward amount as a percentage of the rated speed.
Compensation
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
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 is 4 during INTERPOLATE command execution.
Command Executing Always OFF for INTERPOLATE command.
Hold Completed
Always OFF for INTERPOLATE command.
Command Error End
Turns ON if an error occurs during INTERPOLATE command execution. The
axis will decelerate to a stop if it is moving. Turns OFF when another command
is executed.
Command
Always OFF for INTERPOLATE command.
Completed
Distribution Turns ON when pulse distribution has been completed for the move command.
Completed Turns OFF during execution of a move command.
Positioning Turns ON when pulse distribution has been completed and the current position is
Completed within the Positioning Completed Width. OFF in all other cases.
Position Proximity The operation depends on the setting of the Positioning Completed Width 2
(setting parameter OL
OL
ON).
OL
OFF in all other cases.
Setting
0C0 is ON).
Monitor Contents
20).
20 = 0: Turns ON when pulse distribution has been completed (DEN =
20≠0: Turns ON when MPOS - APOS< Position Proximity Setting
even if pulse distribution has not been completed.
08) to 4.
08) to 4.
0C1).
0C3) will turn ON. The
03.