Yaskawa MP900 - Manual (Page 7)

Basic Set of Registers
for Register-Based Programming
Assume Module(Circuit) #1, Axis #1. Add 400h per circuit, 40h per axis.
Motion Setting Registers ( O Wxxxx)
Name Word Bit [Unit] / Note Reference
Servo On OBC001 0
Alarm Clear OBC000 6
Speed ("Feed" Speed) OLC022 [10^3 R.U./minute (by default)]
Motion Command Code OWC020 1=Position, 3=Home, 7=Jog, 8=Step
Position Reference OLC012 [R.U.]
Abs/Inc Position Mode OBC001 E 0=Abs, 1=Inc
Step Distance OLC028 [R.U.]
Direction (Step,Jog) OBC021 2 0=Fwd, 1=Rev
Acceleration OWC00C
[ms to rated speed (FP7)] SVB: Use
OWC020=10 to send accel to
servopack Pn80B
Deceleration OWC00D
[ms to rated speed (FP7)] SVB: Use
OWC020=11 to send accel to
servopack Pn80E
Motion Monitoring Registers ( I Wxxxx)
Name Word Bit [Unit] / Note Reference
Servo Alarm ILC022
=0 when no alarm. Each bit
represents different alarm
Mtn Cmd Code confirm IWC014
Main Power On IBC001 4
Servo On Confirm IBC001 3
Feedback Position ILC008 [counts or Reference Units]