YASKAWA MP2100 Series User Manual page 249

8 Motion Commands
(4) Related Parameters
(a) Setting Parameters
Parameter
OB 000
OB 013
OW 03
OW 08
OB 090
OB 091
OB 092
OL 10
OL 18
OL 1E
OL 20
OL 36
OL 38
OW 3A
8-40
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 (OW
Speed Loop P/PI Switches the speed control loop between PI control and P control.
Switch
0: PI control, 1: P control
Function 1 Set the speed unit, acceleration/deceleration unit, and filter type.
Motion Command The JOG operation starts when this parameter is set to 7. The operation will be
canceled if this parameter is set to 0 during FEED command execution.
Command Pause
This parameter is ignored for FEED command.
Command Abort The axis is decelerated to a stop if this bit is set to 1 during JOG operation.
JOG/STEP Direction Set the travel direction for JOG operation.
0: Positive direction, 1: Negative direction
Speed Reference Specify the speed for the JOG operation. This setting can be changed during
operation. The unit depends on the setting of OW
Speed Override This parameter allows the feed speed to be changed without changing the Speed
Reference (OL
Setting. This setting can be changed during operation.
Setting range: 0 to 32767 (0% to 327.67%) Setting unit: 1 = 0.01%
Example: Setting for 50%: 5000
Positioning Set the width in which to turn ON the Positioning Completed bit (IB
Completed Width
Positioning Set the range in which the Position Proximity bit (IB
Completed 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.
Linear Acceleration Set the rate of acceleration of the acceleration time constant for fixed-speed
Time
feeding.
Linear Deceleration Set the rate of deceleration of the deceleration time constant for fixed-speed
Time feeding.
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
Setting
10). Set the speed as a percentage of the Speed Reference
0C0 is ON).
08) to 7.
03.
0C1).
0C3) will turn ON. The
03.