YASKAWA MP2000 Series User Manual page 150

( 4 ) Related Parameters
[ a ] Setting Parameters
Parameter
OW00
Servo ON
Bit 0
OW03 Function Setting 1
OW04 Function Setting 2
OW08 Motion Command
OW09
Holds A Command
Bit 0
OW09
Interrupt A Command
Bit 1
OW09 Latch Zone Effective
Bit 4 Selection
OW09
Position Reference Type
Bit 5
Speed Reference
OL10
Setting
OW18 Override
Position Reference Set-
OL1C
ting
Width of Positioning
OL1E
Completion
NEAR Signal Output
OL20
Width
OL2A Latch Zone Lower Limit
OL2C Latch Zone Upper Limit
Straight Line
Acceleration/
OL36
Acceleration Time
Constant
Straight Line
Deceleration/
OL38
Deceleration Time
Constant
OW3A Filter Time Constant
External Positioning
OL46
Final Travel Distance
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 2.
Set the speed unit, acceleration/deceleration unit, and filter type.
Set the external positioning signal.
0: EXT (DI_5), 1: ZERO (DI_2), 2: Phase-C pulse signal
The positioning starts when this parameter is set to 2.
The operation will be canceled if this parameter is set to 0 during EX_POSING com-
mand execution.
The axis will decelerate to a stop if this bit is set to 1 during execution of EX_POSING
command execution.
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 EX_POSING command
execution.
Enable or disable the area where the external positioning signal is valid.
If the latch zone is enabled, the external positioning signal will be ignored if it is input
outside of the latch zone.
0: Disable, 1: Enable
Select the type of position reference.
0: Incremental addition mode, 1: Absolute mode
Set this bit before setting the Motion Command (OW08) to 2.
Specify the speed for the positioning.
This setting can be changed during operation. The unit depends on the Function Set-
ting 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%
Set the target position for positioning.
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 boundary in the negative direction of the area in which the external positioning
signal is to be valid.
Set the boundary in the positive direction of the area in which the external positioning
signal is to be valid.
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/decel-
eration or a moving average filter can be selected in 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).
Set the moving amount after the external positioning signal is input.
7.2 Motion Command Details
7.2.2 External Positioning (EX_POSING)
Setting
7
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