Yaskawa MP920 Motion Module User Manual
Page 346
7 PO-01 Module Specification and Handling
7.3.2 Motion Setting Parameters
7-44
33
Motion
Command
Code (MCMD-
CODE)
OW20
0 to 65535
Set the motion command code to the PO-01 Module.
This parameter can be used under the following con-
ditions.
• Motion Command Selection (bit 7 of fixed param-
eter no. 14)
• Position Control Mode Selection (OB002)
• RUN Mode Motion Setting Command Enabled
(OB008)
Motion Commands
0: NOP (no command)
1: Positioning (POSING)
2: Not used.
3: Zero point return (ZRET)
4: Interpolation (INTERPOLATE)
5: Reserved for system use
6: Not used.
7: Feed (FEED)
8: Step (STEP)
9: Zero point setting (ZSET)
0
34
Motion Com-
mand Control
Flags
(MCMDCTRL)
OW21
Set motion command auxiliary functions.
Bit 0
Command
Hold (HOLD)
The machine decelerates to a stop if this bit turns ON
while an axis is moving during positioning or step
execution using an OW20: Motion Command
Code. IB151: Hold Completed turns ON when
the HOLD has been completed. If this bit goes back
OFF at this point, the hold is canceled and position-
ing restarts.
0: OFF, 1: ON
0
Bit 1
Command
Abort
(ABORT)
The machine decelerates to a stop if this bit turns ON
while an axis is moving during positioning, zero
point return, or STEP using an OW20: Motion
Command Code.
The BUSY bit (IB150) turns ON when ABORT
is being executed, and it turns OFF when the execu-
tion of ABORT completes.
Step execution can be aborted by setting the motion
command to NOP.
0: OFF, 1: ON
0
Bit 2
Direction of
Movement
(For JOG and
STEP)
(DIRECTION)
Set the movement direction. This bit is enabled when
a Motion Command Code (OW20) is set to con-
stant-speed feed or inching.
0: Forward direction
1: Reverse direction
0
(Forward
direction)
Bit 3
No Compensa-
tion for Feed
Speed
Remainder
(REMCUT)
Always set this bit to 0.
0: OFF, 1: ON
0
Table 7.10 Motion Setting Parameters (cont’d)
No. Name
Register
Number
Setting
Range/
Bit Name
Description
Factory
Setting