Yaskawa MP2000 Series: Built-in SVB or SVB-01 Motion Module User Manual

Page 174

6.2 Motion Command Details

6.2.2 Latch Target Positioning (EX_POSING) (External Positioning)

6-13

Motion Commands

[ b ] Monitoring Parameters

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

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

08) to 2.

Speed Reference
Setting

Specify the speed for the positioning. Only a positive value can be set.
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%

−

Position Reference Set-
ting

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.

−

Latch Zone Lower Limit
Setting

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

−

Latch Zone Upper Limit
Setting

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

−

Straight Line Accelera-
tion/Acceleration Time
Constant

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

Straight Line Decelera-
tion/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/
deceleration 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

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

−

Parameter

Name

Monitor Contents

SVR

Bit 1

Running (At Servo
ON)

Indicates the Servo ON status.
1: Power supplied to Servomotor, 0: Power not supplied to Servomotor

Warning

Stores the most current warning.

Alarm

Stores the most current alarm.

Motion Command
Response Code

Indicates the motion command that is being executed.
The response code is 2 during EX_POSING command execution.

Bit 0

Command
Execution Flag

The Command Executing Flag bit will turn ON during EX_POSING command execu-
tion and then turn OFF when command execution has been completed.

Bit 1

Command Hold
Completed

Turns ON when a deceleration to a stop has been completed as the result of setting the
Holds a Command bit to 1 (OW

09, bit 1) during EX_POSING command execu-

tion (IW

08 = 2).

Bit 3

Command Error
Completed Status

Turns ON if an error occurs during EX_POSING command execution.
The axis will decelerate to a stop if it is moving. Turns OFF when another command is
executed.

(cont’d)

Parameter

Name

Setting

SVR