YASKAWA MP2000 Series User Manual page 144

( 4 ) Related Parameters
[ a ] Setting Parameters
Parameter
OW00
Servo ON
Bit 0
OW03 Function Setting 1
OW08 Motion Command
OW09
Holds A Command
Bit 0
OW09
Interrupt A Command
Bit 1
OW09 Position Reference
Bit 5 Type
Speed Reference
OL10
Setting
OW18 Override
Position Reference
OL1C
Setting
Width of Positioning
OL1E
Completion
NEAR Signal Output
OL20
Width
Straight Line
Acceleration/
OL36
Acceleration Time
Constant
Straight Line
Deceleration/
OL38
Deceleration Time
Constant
OW3A Filter Time Constant
 Terminology: Pulse distribution
Pulse distribution transfers reference values from the Machine Controller registers to the SERVOPACK registers every scan.
Used in describing motion command operation.
Name
Turn the power to the Servomotor ON and OFF.
1: Power ON to Servomotor, 0: Power OFF to Servomotor
Set this bit to 1 before setting the Motion Command (OW08) to 1.
Set the speed unit, acceleration/deceleration unit, and filter type.
The positioning starts when this parameter is set to 1.
The operation will be canceled if this parameter is set to 0 during POSING command
execution.
The axis will decelerate to a stop if this bit is set to 1 during POSING command execu-
tion.
The positioning will restart if this bit is reset to 0 when a command is being held.
The axis will decelerate to a stop if this bit is set to 1 during POSING command execu-
tion.
When this bit is reset to 0 after decelerating to a stop, the operation depends on the set-
ting of the Position Reference Type (OW09, bit 5).
Select the type of position reference.
0: Incremental addition mode, 1: Absolute mode
Set this bit before setting the Motion Command (OW08) to 1.
Specify the speed for the positioning.
This setting can be changed during operation. The unit depends on the Function Setting
1 setting (OW03, bits 0 to 3).
This parameter allows the positioning speed to be changed without changing the Speed
Reference Setting (OL10). Set the speed as a percentage of the Speed Reference
Setting. This setting can be changed during operation.
Setting range: 0 to 32767 (0% to 327.67%) Setting unit: 1 = 0.01%
Example: Setting for 50%: 5000
Set the target position for positioning. This setting can be changed during operation.
The meaning of the setting depends on the status of the Position Reference Type bit
(OW09, bit 5).
Set the width in which to turn ON the Positioning Completed bit (IW0C, bit 1).
Set the range in which the NEAR Position bit (IW0C, bit 3) will turn ON. The
NEAR Position 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/decelera-
tion or a moving average filter can be selected in the Function Setting 1 bit (OW03,
bits 8 to B).
Change the setting only after pulse distribution has been completed for the command
(IW0C, bit 0 is ON).
7.2 Motion Command Details
7.2.1 Positioning (POSING)
Setting
7
7-5