YASKAWA MP2100 Series User Manual page 349

11 SVR Virtual Motion Module
11.2.2 Motion Parameter Settings
(d) Motion Command Control Flags
OW
(e) Motion Subcommands
Set the motion subcommand to be used with the motion command.
Only 0: NOP and 5: FIXPRM_RD can be used.
(f) Torque Reference
Set the torque reference for torque reference commands.
(g) Speed Reference
Set the speed reference.
(h) Secondly Speed Compensation
Set the speed feed forward amount for the Phase Reference command (PHASE).
When used at the same time as Speed Amends (OW
11-10
Motion Command Options
OW 09
Setting Range
09 Command Pause
Bit 0
0: Command pause OFF (default)
1: Command pause ON
Command Abort
Bit 1
0: Command abort OFF (default)
1: Command abort ON
Jog/Step Direction
Bit 2
0: Forward (default)
1: Reverse
Position Reference Type
Bit 5
0: Incremental addition mode (default)
1: Absolute position reference mode
Motion Subcommand
OW 0A
Setting Range
Torque Reference
Setting Range
31
OW 0C
−2
Speed Reference
Setting Range
31
OW 10
−2
Secondly Speed Compensation
Setting Range
31
OW 16
−2
Position
Setting Unit
−
Position
Setting Unit
0 to 5
Position
Setting Unit
Depends on the torque unit
31
to 2 −1
set in Function 1 (setting
parameter OW
Position
Setting Unit
Depends on the speed unit set
31
to 2 −1
in Function 1 (setting
parameter OW
Position
Setting Unit
Depends on the speed unit set
31
−1
to 2
in Function 1 (setting
parameter OW
31), speed compensation can be performed twice.
Phase Speed
Default Value
−
Phase Speed
Default Value
−
Speed
Phase
Default Value
03, bits C
to F)
Speed
Phase
Default Value
03, bits 0
to 3)
Phase Speed
Default Value
03, bits 0
to 3)
Torque
0000 H
Torque
0
Torque
0
Torque
3000
Torque
0