YASKAWA JEPMC-MP2300-Y Series User Manual page 321

OW 09
Motion Command Options
Phase Compensation Type with an Electronic Cam
Select a setting method for Phase Compensation (OL
0: Incremental addition mode (Default)
1: Absolute mode
This bit is valid when the electronic cam function is enabled (setting: OW
If using an electronic shaft (OW
which is the difference between the values from the previous H scan and the current H scan, is added to the tar-
get position regardless of the setting of this bit.
■ Precautions if using as an electronic cam (OW05, bit 1 = 1)
Description Bit 6
■ Precautions if using as an electronic shaft (OW
( 9 ) Motion Subcommands
OW 0A
Motion Subcommands
Set the motion subcommands that can be used with the motion command.
0: NOP
R
1: PRM_RD
2: PRM_WR
3: Reserved
Description
4: SMON
5: FIXPRM_RD
R
These commands can be used only with MECHATROLINK-II in 32-byte mode, except for Read Fixed
Parameters. For details, refer to 7.3 Motion Subcommands on page 7-95 and 7.4 Motion Subcom-
mand Details on page 7-96.
Position
Speed Torque
05, bit 1 = 0), the incremental value of Phase Compensation (OL
if Absolute value 1 is selected for the Phase Compensation Type when using an electronic
cam, always take measures to prevent a sudden and extreme change in the target position
before executing the move command. For example, set the Phase Compensation (OL
to the same value as 32-bit Coordination System Position (DPOS) (IL
measures are not taken, the axis may abruptly move, resulting in a serious situation.
If using the electronic cam function, do not change the setting of this bit while the move com-
mand is being executed. Although the setting of this bit can be changed at any time, chang-
ing the setting while the move command is being executed may move the axis abruptly,
resulting in serious situation.
The setting method of Phase Compensation (OL
the SVB/SVB-01 Modules are different. For the SVA-01 Module, the set value of Phase Com-
pensation (OL 28) is simply added to the target position.
Position
Speed Torque
No command
Read SERVOPACK Parameter
Write SERVOPACK Parameter
Reserved
Monitor Status
Read Fixed Parameters
6.4 MP2300 Parameter Details
Setting Range Setting Unit
Phase
－
28).
05, bit 1 = 1).
05, bit 1 = 0)
28) for the SVA-01 Module and that for
Setting Range Setting Unit
Phase
0 to 5
Default Value
0000H
－
28),
28)
14). If preventive
Default Value
0
－
6-31