4 ) related parameters – Yaskawa JAPMC-MC2300 User Manual

Page 151

7.2 Motion Command Details

7.2.2 External Positioning (EX_POSING)

7-11

Motion Commands

( 4 ) Related Parameters

[ a ] Setting Parameters

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 2.

Function Setting 1

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

Function Setting 2

Set the external positioning signal.
0: EXT (DI_5), 1: ZERO (DI_2), 2: Phase-C pulse signal

Motion Command

The positioning starts when this parameter is set to 2.
The operation will be canceled if this parameter is set to 0 during EX_POSING com-
mand execution.

Bit 0

Holds A Command

The axis will decelerate to a stop if this bit is set to 1 during execution of EX_POSING
command execution.
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 EX_POSING command
execution.

Bit 4

Latch Zone Effective
Selection

Enable or disable the area where the external positioning signal is valid.
If the latch zone is enabled, the external positioning signal will be ignored if it is input
outside of the latch zone.
0: Disable, 1: Enable

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 2.

Speed Reference
Setting

Specify the speed for the positioning.
This setting can be changed during operation. The unit depends on the Function Set-
ting 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%

Position Reference Set-
ting

Set the target position for positioning.
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.

Latch Zone Lower Limit

Set the boundary in the negative direction of the area in which the external positioning
signal is to be valid.

Latch Zone Upper Limit

Set the boundary in the positive direction of the area in which the external positioning
signal is to be valid.

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/decel-
eration or a moving average filter can be selected in 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).

External Positioning
Final Travel Distance

Set the moving amount after the external positioning signal is input.