Yaskawa MP2200 Machine Controller - Manual (Page 27)

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OWxx0E Torque.SpeedLimit Maximum speed allowed during torque control
OWxx09 CommandMask Servo Command options
OBxx090 Command.Pause Pause command
OBxx091 Command.Abort Abort command
OBxx092 Command.JogRelativeMoveDirection Selects Jog or Step direction.
OBxx093 Home.Direction Selects home direction.
OBxx094 Latch.WindowEnable Enables the latch zone.
OWxx0A Command2.SetValue Additional servopack commands
OLxx0C Torque.Commanded The commanded motor torque in % of rated 100=1%
OLxx10 Speed.Commanded Commanded speed in units based on UnitType
OLxx14 Speed.TorqueLimit Maximum torque allowed during speed control
OWxx18 Speed.Override The percentage of commanded speed actually achieved 100=1%
OLxx1C Position.Commanded Commanded position, incremental or absolute based on MoveType
OLxx1E Position.InPositionWindow
Position window that determines when InPosition will be set (when
Actual=Commanded ± Window)
OLxx20 Position.InPosition2Window
Position window that determines when InPosition2
will be set (when Actual=Commanded ± Window2)
OLxx22 Position.ErrorLimit
The value (in user units) that triggers a position error alarm or warning
when exceeded
OLxx28 Position.PhaseCompensation Position units added to the commanded position in phase control mode.
OWxx26 Position.InPositionTimeOut
The value (in milliseconds) that triggers a position
complete timeout alarm after the profilier is complete
OLxx2A Latch.WindowLowerLimit The lower limit of the latch window
OLxx2C Latch.WindowUpperLimit The upper limit of the latch window
OWxx2E Gain.PositionLoop Increase value for more rigid control.
OWxx2F Gain.SpeedLoop Increases value for more rigid dampening.
OWxx30 Gain.PositionFeedForward Feed Forward adds to the position to increase response
OWxx31 Gain.PhaseFeedForward Add to the speed in 0.01%
OWxx32 Gain.PositionIntegration Time in ms used to integrate the position error
OWxx34 Gain.SpeedIntegration Time in ms used to integrate the speed error
OLxx36 Acceleration
Acceleration Value, units selected by UnitsWord
(OWxx03)
OLxx38 Deceleration
Deceleration value, units selected by UnitsWord
(OWxx03)
OWxx3A S_CurveTime Softens acceleration or deceleration.
OWxx3C Home.Method The type of homing to perform
OWxx3D Home.CompleteWindow The window used to set the home complete bit
OLxx3E Home.ApproachSpeed
Speed used in the first or second stage of homing
depending on type
OLxx40 Home.CreepSpeed Speed used to locate the "c" channel or marker pulse
OLxx42 Home.Offset Offset distance used at the end of homing
OLxx44 Position.Relative Distance used in the step command
OLxx46 Position.Offset
The offset distance that the motor will travel during the external
positioning command if the external positioning signal is activated
during the move
OLxx48 Home.Define
Redefine the coordinate system. In position mode, the servo will move
when this variable is changed.
OLxx4A Position.WorkCoordinateOffset Offset for interpolation commands
OLxx4C Modulus.SetTurns
Value used to set the number of turns, or times the
position has rolled over the maximum
(cont’d)
Register Variable Name Comments