YASKAWA MP2100 Series User Manual page 246

(3) Related Parameters
(a) Setting Parameters
Parameter
OB 000 Servo ON
OW 03 Function 1
OW 04 Function 2
OW 08 Motion Command
OB 095 Position Reference
Type
OL 1C Position Reference
OL 1E Positioning
Completed Width
OL 20 Positioning
Completed Width 2
OL 30 Speed Feed Forward
OL 36 Linear Acceleration
Time
OL 38 Linear Deceleration
Time
OW 3A Filter Time Constant
(b) Monitoring Parameters
Parameter Name
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
IB 0C0 Distribution
Completed
IB 0C1 Positioning
Completed
Name
Turn 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
Set the speed unit, acceleration/deceleration unit, and filter type.
Set the latch signal type.
The positioning starts when this parameter is set to 6.
Switch the type of position reference.
0: Incremental addition mode, 1: Absolute mode
Set this parameter before setting the Motion Command (OW
Set the target position for positioning. The setting can be changed every high-
speed scan.
Set the width in which to turn ON the Positioning Completed bit (IB
Set the range in which the Position Proximity bit (IB
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.
Set the feed forward amount as a percentage of the rated speed.
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
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 any alarms that have occurred during execution.
The response code is 6 during LATCH operation.
Always OFF for LATCH operation.
Always OFF for LATCH operation.
Turns ON if an error occurs during LATCH operation. The axis will decelerate to a
stop if it is moving. Turns OFF when another command is executed.
Always OFF for LATCH operation.
Turns ON when distribution has been completed for the move command.
Turns OFF during execution of a move command.
Turns ON when distribution has been completed and the current position is within
the Positioning Completed Width. OFF in all other cases.
Setting
0C0 is ON).
Monitor Contents
8.6 Latch (LATCH)
08) to 6.
08) to 6.
0C1).
0C3) will turn ON. The
03.
8
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