YASKAWA MP2100 Series User Manual page 364

(b) Related Parameters
• Setting Parameters
Parameter Name
OB 000 Servo ON
OW 03 Function 1
OW 08 Motion Command
OB 095 Position Reference
Type
OL 1C Position Reference
Type
OL 20 Positioning Completed
Width 2
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 4.
Switch the type of position reference.
0: Incremental addition mode, 1: Absolute mode
Set this parameter before setting the Motion Command (OW
Set the target position for positioning. The setting can be changed every high-
speed scan.
Set the range in which the Position Proximity bit (IB
The Position Proximity bit will turn ON when the absolute value of the
difference between the reference position and the feedback position is less
than the value set here.
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 4 during INTERPOLATE command execution.
Always OFF for INTERPOLATE command.
Always OFF for INTERPOLATE command.
Turns ON if an error occurs during INTERPOLATE command execution. The
axis will decelerate to a stop if it is moving. Turns OFF when another
command is executed.
Always OFF for INTERPOLATE command.
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. OFF in all other cases.
Turns ON when Distribution Completed (DEN) turns ON.
11.3 Motion Commands
Setting
08) to 4.
0C3) will turn ON.
08) to 4.
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