Basic registers, Basic set of registers – Yaskawa MP2300 User Manual
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MP2300 Quick Reference Guide Rev1.5
Basic Set of Registers
for Register-Based Programming
Assume Module(Circuit) #1, Axis #1. Add 800h per circuit, 80h per axis.
Motion Setting Registers (
O
Wxxxx)
Name
Word
Bit [Unit] / Note
Reference
Servo On
OB8000 0
Alarm Clear
OB8000 F
Speed ("Feed" Speed)
OL8010
[10^3 R.U./minute (by default)]
Select Speed Units in OW8003.0-3
Motion Command Code
OW8008
1=Position, 3=Home, 7=Jog, 8=Step
Position Reference
OL801C
[R.U.] Default R.U. is encoder count
Abs/Inc Position Mode
OB8009 5
1=Abs, 0=Inc (default)
Step Distance
OL8004
[R.U.] Default R.U. is encoder count
Direction (Step,Jog)
OB8009 2
0=Fwd, 1=Rev
Acceleration
OL8036
[ms to rated speed (FP34)]
Select Acceleration Units in OW8003.4-7
Deceleration
OL8038
[ms to rated speed (FP34)]
Select Deceleration Units in OW8003.4-7
Motion Monitoring Registers (
I
Wxxxx)
Name
Word
Bit [Unit] / Note
Reference
Servo Alarm
IL8004
=0 when no alarm. Each bit represents
different alarm
Servo Warning
IL8002
=0 when no warning Each bit represents
different warning
Mtn Cmd Code confirm
IW8008
Main Power On
IB802C 4
Servo Ready
IB8000 3
IB8000 1
IB802C 3
Feedback Position
IL8016
[counts or Reference Units]
Feedback Speed
IL8040
Positioning Complete
IB800C 1
Servo On Confirm
Terminology used on this page
"R.U.": Minimum increment of motion. By default 1 R.U. = 1 Count. Used fixed parameters to change.
"Count": post-quadrature encoder count
"Pulse": pre-quadrature encoder pulse
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