4 ) related parameters – Yaskawa JAPMC-MC2300 User Manual

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7.2 Motion Command Details

7.2.1 Positioning (POSING)

7-5

Motion Commands

( 4 ) Related Parameters

[ a ] Setting Parameters

Terminology: Pulse distribution

Pulse distribution transfers reference values from the Machine Controller registers to the SERVOPACK registers every scan.
Used in describing motion command operation.

Parameter

Name

Setting

Bit 0

Servo ON

Turn the power to the Servomotor ON and OFF.
1: Power ON to Servomotor, 0: Power OFF to Servomotor
Set this bit to 1 before setting the Motion Command (OW

08) to 1.

Function Setting 1

Set the speed unit, acceleration/deceleration unit, and filter type.

Motion Command

The positioning starts when this parameter is set to 1.
The operation will be canceled if this parameter is set to 0 during POSING command
execution.

Bit 0

Holds A Command

The axis will decelerate to a stop if this bit is set to 1 during POSING command execu-
tion.
The positioning will restart if this bit is reset to 0 when a command is being held.

Bit 1

Interrupt A Command

The axis will decelerate to a stop if this bit is set to 1 during POSING command execu-
tion.
When this bit is reset to 0 after decelerating to a stop, the operation depends on the set-
ting of the Position Reference Type (OW

09, bit 5).

Bit 5

Position Reference
Type

Select the type of position reference.
0: Incremental addition mode, 1: Absolute mode
Set this bit before setting the Motion Command (OW

08) to 1.

Speed Reference
Setting

Specify the speed for the positioning.
This setting can be changed during operation. The unit depends on the Function Setting
1 setting (OW

03, bits 0 to 3).

Override

This parameter allows the positioning speed to be changed without changing the Speed
Reference Setting (OL

10). Set the speed as a percentage of the Speed Reference

Setting. This setting can be changed during operation.
Setting range: 0 to 32767 (0% to 327.67%) Setting unit: 1 = 0.01%
Example: Setting for 50%: 5000

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 the Position Reference Type bit
(OW

09, bit 5).

Width of Positioning
Completion

Set the width in which to turn ON the Positioning Completed bit (IW

0C, bit 1).

NEAR Signal Output
Width

Set the range in which the NEAR Position bit (IW

0C, bit 3) will turn ON. The

NEAR Position bit will turn ON when the absolute value of the difference between the
reference position and the feedback position is less than the value set here.

Straight Line
Acceleration/
Acceleration Time
Constant

Set the rate of acceleration or acceleration time constant for positioning.

Straight Line
Deceleration/
Deceleration Time
Constant

Set the rate of deceleration or deceleration time constant for positioning.

Filter Time Constant

Set the acceleration/deceleration filter time constant. Exponential acceleration/decelera-
tion or a moving average filter can be selected in the Function Setting 1 bit (OW

03,

bits 8 to B).
Change the setting only after pulse distribution has been completed for the command
(IW

0C, bit 0 is ON).