Yaskawa MP2200 Machine Controller - Manual (Page 435)

8.3 Motion Commands
8-19
• Target Position (CPOS) (IL††10)
• Machine Coordinate System Position (MPOS) (IL††12): MPOS is always equal to CPOS.
• Machine Coordinate Feedback Position (APOS) (IL††16): APOS is always equal to CPOS.
[ b ] Related Parameters
■ Setting Parameters
Parameter Name Setting
OB††000 Servo ON
Turn the power to the Servomotor ON and OFF.
1: Power ON to Servomotor, 0: Power OFF to Servomotor
Turn ON the power before setting the Motion Command (OW††08) to 1.
OW††03 Function 1 Set the speed unit, acceleration/deceleration unit, and filter type.
OW††08 Motion Command
The positioning starts when this parameter is set to 1. The operation will be canceled
if this parameter is set to 0 during POSING command execution.
OB††090 Command Pause
The axis will decelerate to a stop if this bit is set to 1 during POSING command
execution. The positioning will restart if this bit is set to 0 when a command is being
held.
OB††091 Command Abort
The axis will decelerate to a stop if this bit is set to 1 during POSING command
execution. When this bit is set to 0 after stopping, the operation depends on the setting
of the Position Reference Type (OB††095).
OB††095
Position Reference
Type
Switch the type of position reference.
0: Incremental addition mode, 1: Absolute mode
Set this bit before setting the Motion Command (OW††08) to 1.
OL††10 Speed Reference
Specify the speed for the positioning. This setting can be changed during operation.
The unit depends on the setting of OW††03.
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††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).