YASKAWA JEPMC-MP2300-Y Series User Manual page 408

7 Motion Commands
7.2.7 STEP Operation (STEP)
Positioning
OL 20
Completed Width 2
Linear Acceleration
OL 36
Time
Linear Deceleration
OL 38
Time
S-Curve Acceleration
OW 3A
Time
OL 44
Step Distance
[ b ] Monitoring Parameters
Parameter
IB 001 Servo ON
IL 02 Warning
IL 04
Alarm
Servo Command
IW 08
Type Response
Command
IB 090
Executing
Command Hold
IB 091
Completed
IB 093 Command Error End
Command
IB 098 Execution
Completed
Distribution
IB 0C0
Completed
Positioning
IB 0C1
Completed
IB 0C3 Position Proximity
7-50
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 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 the Function 1
(OW 03).
Change the setting only after pulse distribution has been completed for the
command (IB
Set the moving amount for STEP operation.
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 8 during STEP command execution.
The Command Executing bit will turn ON during STEP command execution and
then turn OFF when STEP command execution has been completed.
Turns ON when a deceleration to a stop has been completed as the result of setting
the Command Pause (OB
(IW 08 = 8).
Turns ON if an error occurs during STEP command execution.
The axis will decelerate to a stop if it is moving. Turns OFF when another command
is executed.
Turns ON when STEP 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.
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
0C0 is ON).
Monitor Contents
090) bit to 1 during STEP command execution
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.
0C3) will turn ON.
−
R
R
R
−
SVR
R
R
R
R
R
R
R
R
R
R
R