YASKAWA MP2000 Series User Manual page 200

( 3 ) 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 Position Reference
Bit 5 Type
Position Reference
OL1C
Setting
Width of Positioning
OL1E
Completion
NEAR Signal Output
OL20
Width
OW3A Filter Time Constant
[ b ] Monitoring Parameters
Parameter Name
IW00 Running
Bit 1 (At Servo ON)
IL02 Warning
IL04 Alarm
Motion Command
IW08
Response Code
IW09 Command
Bit 0 Execution Flag
IW09 Command Hold
Bit 1 Completed
IW09 Command Error
Bit 3 Completed Status
Command
IW09
Execution
Bit 8
Completed
IW0C Discharging
Bit 0 Completed
IW0C Positioning
Bit 1 Completed
IW0C
Latch Completed
Bit 2
IW0C
NEAR Position
Bit3
Name
Turns 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 6.
Select the filter type.
Select the latch signal type.
0: EXT (DI_5), 1: ZERO (DI_2), 2: Phase-C pulse signal
The positioning starts when this parameter is set to 6.
Select the type of position reference.
0: Incremental addition mode, 1: Absolute mode
Set this bit before setting the Motion Command (OW08) to 6.
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 (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 acceleration/deceleration filter time constant. Exponential acceleration/deceler-
ation or a moving average filter can be selected in the Function Setting 1 (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).
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 any alarms that have occurred during execution.
The response code is 6 during LATCH command operation.
Always OFF for LATCH command.
Always OFF for LATCH command.
Turns ON if an error occurs during LATCH command operation. The axis will decelerate to a
stop if it is moving. Turns OFF when another command is executed.
Always OFF for LATCH 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
Width of Positioning Completion. OFF in all other cases.
Turns OFF when a new latch command is executed and turns ON when the latch has been
completed. The latched position is stored as the Machine Coordinate System Latch Position
(monitoring parameter IL18).
The operation depends on the setting of the NEAR Signal Output Width (setting parameter
OL20).
OL20 = 0:Turns ON when pulse distribution has been completed (DEN = ON). Other-
wise, it turns OFF.
≠
OL20 0:Turns ON when the absolute value of the difference between MPOS
(IL12) and APOS (IL16) is less than the NEAR Position Setting
even if pulse distribution has not been completed.
OFF in all other cases.
7.2 Motion Command Details
Setting
Monitor Contents
7.2.5 Latch (LATCH)
7
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