YASKAWA MP2000 Series User Manual page 100

( 6 ) Motion Commands
OW08
Motion Command
Set motion command.
0: NOP
1: POSING
2: EX_POSING
3: ZRET
4: INTERPOLATE
5: ENDOF_
Description
INTERPOLATE
6: LATCH
7: FEED
8: STEP
9: ZSET
23: VELO
24: TRQ
25: PHASE
( 7 ) Motion Command Control Flags
OW09
Motion Command Control Flag
Holds a Command
0: OFF (default)
1: ON
The axis will decelerate to a stop if this bit is changed to 1 while an axis is moving during positioning, external
Bit 0
positioning, STEP operation, or speed reference.
While this bit is 1, the command is held. When this bit is changed to 0, the hold is canceled and positioning
restarts. After the axis has been stopped, the Command Hold Completed bit will turn ON in the Motion Com-
mand Status (monitoring parameter IW09, bit 1).
Interrupt a Command
0: OFF (default)
1: ON
Bit 1
The axis will decelerate to a stop if this bit is changed to 1 while an axis is moving during positioning, external
positioning, zero point return, JOG operation, STEP operation, speed reference, or torque reference, and the
remaining movement will be canceled.
Moving Direction (JOG/STEP)
Set the movement direction for JOG or STEP.
Bit 2
0: Forward (default)
1: Reverse
Zero Point Return Direction Selection
Set the direction to move for zero point return. This setting is valid for zero point returns using DEC1 + C,
Description
ZERO, DEC1 + ZERO, or phase-C.
Bit 3
0: Reverse (default)
1: Forward
Latch Zone Effective Selection
Disable/enable the area where the external signal is valid for external positioning (called the latch zone).
0: Disabled (default)
1: Enabled
Bit 4 Always disable this bit when sending latch commands (latch, zero point return) other than those for external
positioning.
 Related Parameters
OL2A: Latch Zone Lower Limit Setting
OL2C: Latch Zone Upper Limit Setting
Position Reference Type
Specify whether the value set for the Position Reference Setting (setting parameter OL1C) is an Incremen-
tal Addition Mode value (calculated by adding the movement amount to the current position) or an Absolute
Mode value (an absolute position).
Bit 5
0: Incremental value add method (default)
1: Absolute value set method
Always set this bit to Incremental Addition Mode when using motion programs or infinite axes. For details,
refer to 6.1.2 ( 2 ) Parameter Setting Example Using Rotating Table on page 6-3.
5.4 MP2000 Series Machine Controller Parameter Details
Phase
Position
Speed Torque
No Command
Position Mode (Positioning)
Latch Target Positioning (External Positioning)
Zero Point Return
Interpolation
Reserved for system use.
Interpolation Mode with Latch Input
JOG Mode
Relative Position Mode (Step Mode)
Set Zero Point
Speed Reference
Torque Reference
Phase Reference
Phase
Position
Speed Torque
5.4.2 Motion Setting Parameter Details
Setting Range Setting Unit
−
0 to 25
Setting Range Setting Unit
− −
Default Value
0
Default Value
0000H
5
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