2 parameters upda, 3 parameters upda – Yaskawa MP2200 Machine Controller User Manual
Page 484

9 Utility Functions
9.4.2 Parameters Updated when a Setting Parameter Is Changed (MP2200/MP2300 to SERVOPACK)
9-20
9.4.2 Parameters Updated when a Setting Parameter Is Changed
(MP2200/MP2300 to SERVOPACK)
When using the MECHATROLINK-II at 10 Mbps in 32-byte mode, the following parameters are
updated when a setting parameter is changed as along as bit A of fixed parameter 1 is set to enable
automatic updating of parameters.
* Also updated when bits 4 to 7 of OW03 (Acceleration/Deceleration Unit) are changed.
9.4.3 Parameters Updated when a Motion Command Is Started
(MP2200/MP2300 to SERVOPACK)
* Only when bit A of fixed parameter 1 is set to enable automatic updating of parameters.
MP2200/MP2300
SERVOPACK
SGD-N,
SGDB-N
NS100
NS115
SGDS
Setting
Parameters
Position Completed Width
OL1E
→
−
−
Pn500
Pn522
Position Loop Gain
OW2E
→
−
−
Pn102
Speed Loop Gain
OW2F
→
−
−
Pn100
Speed Feed Forward
Compensation
OW30
→
−
−
Pn109
Position Loop Integration
Time Constant
OW32
→
−
−
Pn11F
Speed Loop Integration Time
Constant
OW34
→
−
−
Pn101
Linear Acceleration Time
*
OL36
→
−
−
Pn80B
Linear Deceleration Time
*
OL38
→
−
−
Pn80E
MP2200/MP2300
SERVOPACK
Remarks
SGD-N,
SGDB-N
NS100
NS115
SGDS
Setting
Parameters
Latch Zone Lower Limit
OL2A
→
−
−
−
Pn822
Updated when EX_POSING
command execution is started.
Latch Zone Upper Limit
OL2C
→
−
−
−
Pn820
Updated when EX_POSING
command execution is started.
Linear Acceleration Time
*
OL36
→
Cn-0020
Pn80B
Updated when POSING,
EX_POSING, ZRET, FEED, or
STEP command execution is
started.
Linear Deceleration Time
*
OL38
→
−
Pn80E
S-curve Acceleration
Time
OW3A
→
Cn-0026
Pn812
Updated when POSING,
EX_POSING, ZRET, FEED, or
STEP command execution is
started, but only when DEN =
ON (i.e., when pulse
distribution has been
completed).
Approach Speed
OL3E
→
Cn-0022
Pn817
Updated when ZRET command
execution is started.
Creep Speed
OL40
→
Cn-0023
Pn818
Updated when ZRET command
execution is started.
Home Offset
OL42
→
Cn-0028
Pn819
Updated when ZRET command
execution is started.
External Positioning Move
Distance
OL46
→
Cn-002B
Pn814
Updated when EX_POSING or
ZRET command execution is
started.