YASKAWA MP210 Series User Manual page 300

Appendix D Motion Parameter Lists
D.1.2 Setting Parameter List
Register No.
OW08
OW09
OW0A
OW0B
OL0C
D-6
Name
0: NOP (No Command)
1: POSING (Position Mode) (Positioning)
2: EX_POSING (Latch Target Positioning) (External position-
3: ZRET (Zero Point Return)
4: INTERPOLATE (Interpolation)
5: ENDOF_INTERPOLATE (Last Interpolation Segment)
6: LATCH (Interpolation Mode with Latch Input)
7: FEED (Jog Mode)
8: STEP (Relative Position Mode) (Step mode)
9: ZSET (Set Zero Point)
10: ACC (Change Acceleration Time)
11: DCC (Change Deceleration Time)
12: SCC (Change Filter Time Constant)
13: CHG_FILTER (Change Filter Type)
Motion Command
14: KVS (Change Speed Loop Gain)
15: KPS (Change Position Loop Gain)
16: KFS (Change Feed-forward)
17: PRM_RD (Read User Constant) (Read SERVOPACK
18: PRM_WR (Write User Constant) (Write SERVOPACK
19: ALM_MON (Alarm Monitor)
20: ALM_HIST (Alarm History Monitor)
21: ALMHIST_CLR (Clear Alarm History)
22: ABS_RST (Absolute Encoder Reset)
23: VELO (Speed Reference)
24: TRQ (Torque/Thrust Reference)
25: PHASE (Phase Reference)
26: KIS (Change Position Loop Integration Time Constant)
27: PPRM_WR (Stored Parameter Write)
Bit 0: Holds a Command (0: OFF/1: ON)
Bit 1: Interrupt a Command (0: OFF/1: ON)
Bit 2: Moving Direction (JOG/STEP) (0: Forward rotation/1:
Bit 3: Zero Point Return Direction Selection (0: Reverse rota-
Motion Command
Control Flag
Bit 4: Latch Zone Effective Selection (0: Disabled/1: Enabled)
Bit 5: Position Reference Type (0: Incremental Value Add
Bit 6: Phase Compensation Type (0: Incremental Value Add
Bits 7 to F: Reserved for system use
0: NOP (No Command)
1: PRM_RD (Read User constant)
(Read SERVOPACK parameter)
2: PRM_WR (Write User constant)
Motion Subcommand
(Write SERVOPACK parameter)
3: Reserved
4: SMON (Status Monitor)
5: FIXPRM_RD (Read Fixed Parameters)
−
Reserved for system use
Torque/Thrust Refer- Unit is according to OW03, bits 12 to 15 (Torque Unit
ence Setting
Selection).
Contents
ing)
(Reserved for system use)
parameter)
parameter)
Reverse rotation)
tion/1: Forward rotation)
Method/1: Absolute Value Set Method)
Method/1: Absolute Value Set Method)
SVB SVR
Yes Yes
Yes Yes
Yes Yes
Yes Yes
Yes
Yes
Yes Yes
Yes
– –
Yes Yes
Yes
Yes Yes
Yes Yes