YASKAWA MP2100 Series User Manual page 286

(4) Related Parameters
(a) Setting Parameters
Parameter Name
OB 000 Servo ON
OB 013 Speed Loop P/PI
Switch
OW 03 Function 1
OW 08 Motion Command
OB 090 Command Pause
OB 091 Command Abort
OL 10 Speed Reference
OL 14 Positive Side Limit-
ing Torque Setting at
the Speed
Reference
OL 18 Speed Override
OL 36 Linear Acceleration
Time
OL 38 Linear Deceleration
Time
OW 3A S-Curve Accelera-
tion Time
(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
Turn the power to the Servomotor ON and OFF.
1: Power ON to Servomotor, 0: Power OFF to Servomotor
Motor will start to rotate when this bit is set to 1 under the speed control data
mode.
Switch the speed control loop between PI control and P control.
0: PI control, 1: P control
Set the speed unit, acceleration/deceleration unit, and filter type.
The mode is changed to speed control mode when this parameter is set to 23.
This parameter is ignored for VELO command.
The axis will decelerate to a stop if this bit is set to 1 during operation.
Specify the speed. This setting can be changed during operation. The unit
depends on the setting of OW
Set the torque limit for the speed reference. The same value is used for both the
positive and negative directions.
This parameter allows the motor speed to be changed without changing the Speed
Reference (OL 10). Set the speed as a percentage of the Speed Reference
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
Set the rate of acceleration or acceleration time constant for operation.
Set the rate of deceleration or deceleration time constant for operation.
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 0C0 is ON).
Monitor Contents
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 the motion command that is being executed.
The response code will be 23 during VELO command execution.
Turns ON when abort processing is being performed for VELO command. Turns
OFF when abort processing has been completed.
Always OFF for VELO command.
Turns ON if an error occurs during VELO command execution. The axis will
decelerate to a stop if it is operating. Turns OFF when another command is
executed.
Always OFF for VELO command.
Turns ON when pulse distribution has been completed for the move command.
Turns OFF during execution of a move command.
8.23 Speed Reference (VELO)
Setting
03.
03.
8
8-77