YASKAWA MP2100 Series User Manual page 299

9 Control Block Diagrams
9.1.1 Position Control
(2) Control Block Diagram for Position Control
9-4
OW 00 Run Commands
OW 01 Mode 1
OW 02 Mode 2
OW 03 Function 1
OW 04 Function 2
OW 05 Function 3
OW 08 Motion Command
OW 09 Motion Command Options
OW 0A Motion Subcommand
OL 10 Speed Reference
OW 18 Speed Override
OL 1C Position Reference Type
OL 1E Positioning Completed Width
OL 20 Positioning Completed Width 2
OL 22 Deviation Abnormal Detection Value
OW 26 Position Complete Timeout
OL 31
Speed Amends
OL 36 Linear Acceleration Time
OL 38 Linear Deceleration Time
OW 3A S-Curve Acceleration Time
OW 3C Home Return Type
OW 3D Home Window
OL 3E Approach Speed
OL 40 Creep Speed
OL 42 Home Offset
OL 44 Step Distance
OL 26 External Positioning Move Distance
OL 48 Zero Point Offset
OL 4A Work Coordinate System Offset
OL 4C Preset Data of POSMAX Turn
IW 00 Drive Status
IL 02 Warning
IL 04 Alarm
IW 08 Servo Command Type Response
IW 09 Servo Module Command Status
IW 0A
Motion Subcommand Response Code
IW 0B Motion Subcommand Status
IW 0C Position Management Status
IL 0E
Machine Coordinate Target Position (TPOS)
IL 10 Target Position (CPOS)
IL 12
Machine Coordinate System Position (MPOS)
IL 14
32-bit Coordinate System Position (DPOS)
IL 16
Machine Coordinate Feedback Position (APOS)
IL 18
Machine Coordinate Latch Position (LPOS)
IL 1A Position Error (PERR)
IL 1C Target Position Difference Monitor
IL 1E POSMAX Number of Turns
IL 20 Speed Reference Output Monitor
IW 2C Network Servo Status
IW 2D Servo Alarm Code
IW 2E Network Servo I/O Monitor
IW 2F
Network Servo User Monitor Information
IW 30 Servo User Monitor 2
IL 40 Feedback Speed
IL 42 Torque (Thrust) Reference Monitor
Position pattern generation
for interpolation
Motion program acceleration/
deceleration: IAC, IDC
Motion program or
user application
(ladder program)
Note: Processing performed by CPU.
Speed reference
unit conversion
Valid only for interpolation
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