Yaskawa MP2200 Machine Controller - Manual (Page 129)

4.2 Motion Parameter Lists
4-9
OW††08 Motion Command
0: NOP
1: POSING
2: EX_POSING
3: ZRET
4: INTERPOLATE
5: ENDOF_INTERPOLATE
6: LATCH
7: FEED
8: STEP
9: ZSET
Yes Yes Yes
10: ACC
11: DCC
12: SCC
13: CHG_FILTER
14: KVS
15: KPS
16: KFS
17: PRM_RD
18: PRM_WR
19: ALM_MON
20: ALM_HIST
21: ALMHIST_CLR
22: ABS_RST
Yes Yes
23: VELO
24: TRQ
25: PHASE
Yes Yes Yes
26: KIS Yes Yes
OW††09
Motion Command Control
Flags
Bit 0: Command Pause (0: OFF/1: ON) Yes Yes Yes
Bit 1: Command Abort (0: OFF/1: ON) Yes Yes Yes
Bit 2: JOG/STEP Direction (0: Forward rotation/1: Reverse
rotation)
Yes Yes Yes
Bit 3: Home Direction (0: Reverse rotation/1: Forward rotation) Yes Yes
Bit 4: Latch Zone Enable (0: Disabled/1: Enabled) Yes Yes
Bit 5: Position Reference Type
(0: Incremental Addition Mode/1: Absolute Mode)
Yes Yes Yes
Bits 6 to F: Reserved
OW††0A Motion Subcommand
0: NOP Yes Yes Yes
1: PRM_RD
2: PRM_WR
3: Reserved
4: SMON
Yes
5: FIXPRM_RD Yes Yes Yes
OW††0B － Reserved
OL††0C Torque Reference Unit is according to OW††03, bits 12 to 15 (Torque Unit). Yes Yes Yes
OW††0E
Speed Limit during Torque
Reference
1 = 0.01% (percentage of rated speed) Yes Yes
OW††0F
Torque Reference Primary
Lag Filter
1 = 1 ms Yes
OL††10 Speed Reference Unit is according to OW††03, bits 0 to 3 (Speed Unit). Yes Yes Yes
OW††12 Forward Speed Limit 1 = 0.01% (percentage of rated speed) Yes
OW††13 Reverse Speed Limit 1 = 0.01% (percentage of rated speed) Yes
OL††14
Positive Side Limiting Torque
Setting at Speed Reference
Unit is according to OW††03, bits 0 to 3 (Speed Unit). Yes Yes
(cont’d)
Register No. Name Description
SVB
-01
SVA
-01
SVR