Yaskawa MP2200 Machine Controller - Manual (Page 236)

5 Motion Commands
5.2.1 Positioning (POSING)
5-6
（ Note） : Parameters only for the SVB-01 Module.
[ b ] Monitoring Parameters
OL††18 Speed Override
This parameter allows the positioning speed to be changed without changing the
Speed Reference (OL††10). Set the speed as a percentage of the Speed Reference
Setting. This setting can be changed during operation.
Setting range: 0 to 32767 (0% to 327.67%) Setting unit: 1 = 0.01%
Example: Setting for 50%: 5000
OL††1C
Position Reference
Setting Set the target position for positioning. This setting can be changed during operation.
The meaning of the setting depends on the status of OB††095.
OL††1E
Positioning
Completed Width
Set the width in which to turn ON the Positioning Completed bit (IB††0C1).
OL††20
Positioning
Completed Width 2
Set the range in which the Position Proximity bit (IB††0C3) will turn ON. The
Position Proximity 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.
OL††36
Linear Acceleration
Time
Set the rate of acceleration or acceleration time constant for positioning.
OL††38
Linear Deceleration
Time
Set the rate of deceleration or deceleration time constant for positioning.
OW††3A
S-Curve Acceleration
Time
Set the acceleration/deceleration filter time constant. Exponential acceleration/
deceleration or a moving average filter can be selected in OW††03.
Change the setting only after pulse distribution has been completed for the command
(IB††0C0 is ON).
Parameter Name Setting
Parameter Name Monitor Contents
IB††001 Servo ON
Indicates the Servo ON status.
ON: Power supplied to Servomotor, OFF: Power not supplied to Servomotor
IL††02 Warning Stores the most current warning.
IL††04 Alarm Stores the most current alarm.
IW††08
Servo Command
Type Response Indicates the motion command that is being executed.
The response code will be 1 during POSING command execution.
IB††090 Command Executing
Turns ON when abort processing is being performed for POSING command. Turns
OFF when abort processing has been completed.
IB††091
Command Hold
Completed Turns ON when a deceleration to a stop has been completed as the result of setting the
Command Pause (OB††090) bit to 1 during POSING command execution.
IB††093 Command Error End
Turns ON if an error occurs during POSING command execution. The axis will
decelerate to a stop if it is moving. Turns OFF when another command is executed.
IB††098
Command Execution
Completed Always OFF for POSING command. Use the Positioning Completed bit (IB††0C1)
to confirm completion of this command.
IB††0C0
Distribution
Completed Turns ON when pulse distribution has been completed for the move command.
Turns OFF during execution of a pulse distribution.
IB††0C1
Positioning
Completed Turns ON when pulse distribution has been completed and the current position is
within the Positioning Completed Width. OFF in all other cases.
IB††0C3 Position Proximity
The operation depends on the setting of the Positioning Completed Width 2 (setting
parameter OL††20).
OL††20 = 0: Turns ON when pulse distribution has been completed (DEN = ON).
OL††20
≠0: Turns ON when MPOS - APOS< Position Proximity Setting even
if pulse distribution has not been completed.
OFF in all other cases.