YASKAWA MP2100 Series User Manual page 360

(b) Related Parameters
• Setting Parameters
Parameter Name
OB 000 Servo ON
OW 03 Function 1
OW 08 Motion Command
OB 090 Command Pause
OB 091 Command Abort
OB 095 Position Reference
Type
OL 10 Speed Reference
OL 1C Position Reference
Type
OL 36 Linear Acceleration
Time
OL 38 Linear Deceleration
Time
OW 3A S-Curve Acceleration
Time
• 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 Command Hold
Completed
IB 093 Command Error End
IB 098 Command Execution
Completed
IB 0C0 Distribution Completed
IB 0C1 Positioning Completed
IB 0C3 Position Proximity
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
Set the speed unit, acceleration/deceleration unit, and filter type.
The positioning operation starts when this parameter is set to 2. The operation
will be canceled if this parameter is set to 0 during EX_POSING command
execution.
The axis will decelerate to a stop if this bit is set to 1 during EX_POSING
command execution. The positioning will restart if this bit is set to 0 when a
command is being held.
The axis will decelerate to a stop if this bit is set to 1 during EX_POSING
command execution.
Switch the type of position reference.
0: Incremental addition mode, 1: Absolute mode
Set this parameter before setting the Motion Command Code (OW
2.
Specify the speed for the positioning. This setting can be changed during
operation. The unit depends on the setting of OW
Set the target position for positioning. This setting can be changed during
operation. The meaning of the setting depends on the status of OB
Set the rate of acceleration or acceleration time constant for positioning.
Set the rate of deceleration or deceleration time constant for positioning.
Set the acceleration/deceleration filter time constant. Exponential
acceleration/deceleration or a moving average filter can be selected in
OW 03.
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 is 2 during EX_POSING command execution.
The Command Executing bit will turn ON during EX_POSING command
execution and then turn OFF when command execution has been completed.
Turns ON when a deceleration to a stop has been completed as the result of
setting the Command Pause bit (OB
command execution.
Turns ON if an error occurs during EX_POSING command execution. The
axis will decelerate to a stop if it is moving. Turns OFF when another
command is executed.
Turns ON when EX_POSING command execution has been completed.
Turns ON when pulse distribution has been completed for the move
command.
Turns OFF during execution of a move command.
Turns ON when pulse distribution has been completed and the current position
is within the Positioning Completed Width. OFF in all other cases.
Turns ON when Distribution Completed (DEN) turns ON.
11.3 Motion Commands
Setting
03.
090) to 1 during EX_POSING
08) to 2.
08) to
095.
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