YASKAWA JEPMC-MP2300-Y Series User Manual page 396

7 Motion Commands
7.2.4 Interpolation (INTERPOLATE)
( 3 ) Related Parameters
[ a ] Setting Parameters
Parameter
OB 000 Servo ON
OW 03 Function 1
OW 08
Motion Command
Position Reference
OB 095
Setting
Position Reference
OL 1C
Setting
Positioning
OL 1E
Completed Width
Positioning
OL 20
Completed Width 2
OW 31 Speed Amends
Linear Deceleration
OW 38
Time
S-Curve
OW 3A
Acceleration Time
[ b ] Monitoring Parameters
Parameter
IB 001 Servo ON
IL 02 Warning
IL 04 Alarm
Servo Command
IW 08
Type Response
IB 090 Command Executing
Command Hold
IB 091
Completed
IB 093 Command Error End
Command Execution
IB 098
Completed
Distribution
IB 0C0
Completed
Positioning
IB 0C1
Completed
IB 0C3 Position Proximity
7-38
Name
Turns the power to the Servomotor ON and OFF.
1: Power ON to Servomotor, 0: Power OFF to Servomotor
Turn ON this bit before setting the Motion Command (OW
Sets the speed unit, acceleration/deceleration unit, and filter type.
The positioning 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 updated every high-speed
scan.
Set the width in which to turn ON the Positioning Completed bit (IB
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 feed forward amount as a percentage of the rated speed.
The setting unit for this parameter is 0.01% (fixed).
Set the rate of deceleration or deceleration time constant for positioning.
Used for deceleration stops when an alarm has occurred.
Set the acceleration/deceleration filter time constant.
Exponential acceleration/deceleration or a moving average filter can be selected in
the Function 1 (OW
been completed for the command (IB
Name
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 and the current position is
within the Positioning Completed Width. OFF in all other cases.
The operation depends on the setting of the Positioning Completed Width 2 (setting
parameter OL
OL 20 = 0: Turns ON when pulse distribution has been completed (DEN =
≠
OL 20
Setting
03). Change the setting only after pulse distribution has
0C0 is ON).
Monitor Contents
20).
ON). Otherwise, it turns OFF.
0: Turns ON when the absolute value of the difference between
MPOS and APOS is less than the Position Proximity Setting even
if pulse distribution has not been completed.
OFF in all other cases.
SVR
R
08) to 4.
R
R
R
08) to 4.
R
0C1).
0C3) will turn ON.
R
R
R
SVR
R
R
R
R
R
R
R
R
R
R
R