Yaskawa MP920 User's Manual Design - Manual (Page 409)

7 Parameters
7.2.2 Motion Setting Parameters
7-14
33 Motion Com-
mand Code
(MCMDCODE)
(cont’d)
OW 20 0 to 65535
(Default = 0) 19: ALM_MON Monitor current
alarm occur-
rence in servo
driver 9
20: ALMHIST_MON Monitor servo
driver alarm his-
tory
9
21: ALMHIST_CLR Clear servo
driver alarm his-
tory 9
22 to 65535: Not used
34 Motion Com-
mand Control
Flags
(MCMDCTRL)
(Default = 0, all
the bits are set to
OFF)
OW 21 Bit0: HOLD Command hold 0: OFF, 1: ON 9 9 9 9
Bit 1: ABORT Command abort 0: OFF, 1: ON 9 9 9 9
Bit 2: DIRECTION Direction of move-
ment
(For JOG and STEP)
0: Forward
1: Reverse 9 9 9 9
Bit 3: P_PI Speed loop P/PI
switching 0: PI
1: P 9
REM-
CUT No feed speed
remaining compensa-
tion 0: OFF
1: ON 9
LAGRST No primary lag (Same
as primary lag time
constant = 0) 0: OFF
1: ON 9 9
Bits 4 to 7:
FILTERTYPE Filter type selection
0: No filter
1: Exponential filter (exponential
acceleration/deceleration)
2: Movement averaging filter
(simple S-curved acceleration/
deceleration) 9 9 9 9
Bit 8: POS_PPI Position loop P/PI switch
0: P, 1: PI 9 9
Bit 9: POS_IRST Position control inte-
gration reset 0: OFF
1: ON 9 9
Bit 10: NCOMSEL Speed compensation
(OW 18) during
position control
0: OFF
1: ON 9 9
Bit 11: Not used −
Bit 12: LMT_L Reverse limit signal
for zero point return Valid only when
the fixed parame-
ter No. 14 (Addi-
tional Function
Selection) is set
to OB 21
(setting parame-
ter) used.
0: OFF, 1: ON 9 9 9
Bit 13: LMT_R Forward limit signal
for zero point return 9 9 9
Table 7.3 Motion Setting Parameters (cont’d)
No. Name
Register
No.
Setting Range Meaning Remarks
SVA-
01A
SVA-
02A
SVB
-01
PO-
01