Yaskawa JAPMC-MC2300 User Manual
Page 101
5.4 MP2000 Series Machine Controller Parameter Details
5.4.2 Motion Setting Parameter Details
5-29
5
Motion Parameters
( 6 ) Motion Commands
( 7 ) Motion Command Control Flags
OW
08
Motion Command
Setting Range
Setting Unit
Default Value
0 to 25
−
0
Description
Set motion command.
0: NOP
1: POSING
2: EX_POSING
3: ZRET
4: INTERPOLATE
5: ENDOF_
INTERPOLATE
6: LATCH
7: FEED
8: STEP
9: ZSET
23: VELO
24: TRQ
25: PHASE
No Command
Position Mode (Positioning)
Latch Target Positioning (External Positioning)
Zero Point Return
Interpolation
Reserved for system use.
Interpolation Mode with Latch Input
JOG Mode
Relative Position Mode (Step Mode)
Set Zero Point
Speed Reference
Torque Reference
Phase Reference
OW
09
Motion Command Control Flag
Setting Range
Setting Unit
Default Value
−
−
0000H
Description
Bit 0
Holds a Command
0: OFF (default)
1: ON
The axis will decelerate to a stop if this bit is changed to 1 while an axis is moving during positioning, external
positioning, STEP operation, or speed reference.
While this bit is 1, the command is held. When this bit is changed to 0, the hold is canceled and positioning
restarts. After the axis has been stopped, the Command Hold Completed bit will turn ON in the Motion Com-
mand Status (monitoring parameter IW
09, bit 1).
Bit 1
Interrupt a Command
0: OFF (default)
1: ON
The axis will decelerate to a stop if this bit is changed to 1 while an axis is moving during positioning, external
positioning, zero point return, JOG operation, STEP operation, speed reference, or torque reference, and the
remaining movement will be canceled.
Bit 2
Moving Direction (JOG/STEP)
Set the movement direction for JOG or STEP.
0: Forward (default)
1: Reverse
Bit 3
Zero Point Return Direction Selection
Set the direction to move for zero point return. This setting is valid for zero point returns using DEC1 + C,
ZERO, DEC1 + ZERO, or phase-C.
0: Reverse (default)
1: Forward
Bit 4
Latch Zone Effective Selection
Disable/enable the area where the external signal is valid for external positioning (called the latch zone).
0: Disabled (default)
1: Enabled
Always disable this bit when sending latch commands (latch, zero point return) other than those for external
positioning.
Related Parameters
OL
2A: Latch Zone Lower Limit Setting
OL
2C: Latch Zone Upper Limit Setting
Bit 5
Position Reference Type
Specify whether the value set for the Position Reference Setting (setting parameter OL
1C) is an Incremen-
tal Addition Mode value (calculated by adding the movement amount to the current position) or an Absolute
Mode value (an absolute position).
0: Incremental value add method (default)
1: Absolute value set method
Always set this bit to Incremental Addition Mode when using motion programs or infinite axes. For details,
refer to 6.1.2 ( 2 ) Parameter Setting Example Using Rotating Table on page 6-3.
Position
Phase
Speed Torque
Position
Phase
Speed Torque