YASKAWA MP2100 Series User Manual page 269

8 Motion Commands
(3) Related Parameters
(a) Setting Parameters
Parameter
OW 08
OB 090
OB 091
OW 2E
(b) Monitoring Parameters
Parameter
IL 02
IL 04
IW 08
IB 090
IB 091
IB 093
IB 098
(4) Timing Charts
(a) Normal End
(b) Error End
8-60
Name
Motion Command The position loop gain is changed when this parameter is set to 15.
Command Pause This parameter is ignored for KPS command.
Command Abort This parameter is ignored for KPS command.
Position Loop Gain
Set the gain for the SERVOPACK position control loop.
Name
Warning Stores the most current warning.
Alarm Stores the most current alarm.
Servo Command Type Indicates the motion command that is being executed.
Response
The response code is 15 during KPS command execution.
Command Executing Turns ON during KPS command execution and turns OFF when execution has
been completed.
Hold Completed Always OFF for KPS command.
Command Error End Turns ON if an error occurs during KPS command execution. Turns OFF when
another command is executed.
Command Completed Turns ON when KPS command execution has been completed.
OW 08 = 15 (KPS)
IW 08 = 15 (KPS)
IB 090 (BUSY)
IB 093 (FAIL)
IB 098 (COMPLETE)
OW 08 = 15 (KPS)
IW 08 = 15 (KPS)
IB 090 (BUSY)
IB 093 (FAIL)
IB 098 (COMPLETE)
Setting
Monitor Contents
Undefined
length of time
Undefined
length of time