Setting Parameter List - YASKAWA JEPMC-MP2300-Y Series User Manual

6 Motion Parameters

6.4.2 Setting Parameter List

6.4.2 Setting Parameter List
( 1 ) RUN Commands
OW 00
RUN Commands
Bit 0
Bit 1
Description
Bit 4
6-24
The following tables provide details of motion setting parameters.
Refer to 6.3.2 Setting Parameter List on page 6-8 for a list of the motion setting parameters.
Register number OW
bers listed below indicate output register numbers in the same way.
Refer to 6.1.1 Motion Parameter Register Numbers for MP2300 on page 6-2 for information on how
to find the leading output register number.
in the following tables indicates that the item is also compatible with SVR.
R
Phase
Speed
Position
position control, phase control, speed control, or torque control.
Similarly, Position Phase
disabled in position control, phase control, speed control, or torque control.
Servo ON
R
Sends a SERVO ON command to the SERVOPACK.
0: Servo OFF (default)
ON: Servo ON
Machine Lock
During the machine lock mode, the Target Position (CPOS) (monitoring parameter IL
but no movement will occur on the axis.
A change in the machine lock mode is valid after all pulses have been distributed. The machine lock mode
cannot be changed during speed or torque control.
0: Machine lock mode released (default)
1: Machine lock mode
Latch Request
Store the current position when the latch signal turns ON as the Machine Coordinate Latch Position (LPOS)
(monitoring parameter IL
When latch detection is completed, the Latch Completed bit will turn ON in the Position Management Status
(monitoring parameter IW
To perform latch detection again, change this bit from 0 to 1.
Set the latch signal to be used in Latch Input Signal Type of Function 2 (setting parameter OW
3).
This function is achieved using the Servo command expansion area and can be executed only with the
MECHATROLINK-II, 32-byte Mode communication method.
Do not change this bit to 1 during execution of the motion commands for zero point return, external positioning,
or latching. Doing so may result in a warning at the SERVOPACK.
OB 004
Latch signal
IB 0C2
∗ T ≥ t
+ t
1
Where
T: Latch processing time
t1: MECHATROLINK communication cycle
t2: Two scans
t3: SERVOPACK latch processing preparation time (≤ 4 ms)
0: Latch request OFF (default)
1: Latch request ON
00 indicates the leading output register number + 00.Other register num-
Torque in the following descriptions indicate that parameter is enabled in
Speed Torque in the following descriptions indicate that parameter is
Setting Range
Phase
Position
Speed Torque
18).
0C, bit 2).
∗
T
+ t
2 3
Setting Unit Default Value
－ －
10) will be updated
0000H
04, bits 0 to