Yaskawa MP2200 Machine Controller - Manual (Page 438)

8 SVR Virtual Motion Module
8.3.2 Motion Command Details
8-22
[ b ] Related Parameters
■ Setting Parameters
■ Monitoring 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 2.
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 2. The operation will be canceled if this
parameter is set to 0 during EX_POSING command execution.
OB††090 Command Pause
The axis will decelerate to a stop if this bit is set to 1 during execution of EX_POSING
command execution. The positioning will restart if this bit is turned OFF 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 EX_POSING command execution.
OB††095
Position Reference
Type
Switch the type of position reference.
0: Incremental addition mode, 1: Absolute mode
Set this parameter before setting the Motion Command (OW††08) to 2.
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).
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 is 2 during EX_POSING command execution.
IB††090 Command Executing
The Command Executing bit will turn ON during EX_POSING command execution and then
turn OFF when command execution 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 bit (OB††090) to 1 during EX_POSING command execution.
IB††093 Command Error End
Turns ON if an error occurs during EX_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
Turns ON when EX_POSING command execution has been completed.
IB††0C0 Distribution Completed Turns ON when pulse distribution has been completed for the move command.
Turns OFF during execution of a move command.
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 Turns ON when Distribution Completed (DEN) turns ON.