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

Page 86

4.3 Motion Parameter Lists

4.3.2 Setting Parameter List

4-10

08 Motion Command

0: NOP (No Command)
1: POSING (Position Mode) (Positioning)

2: EX_POSING (Latch Target Positioning)
　

(External positioning)

3: ZRET (Zero Point Return)

4: INTERPOLATE (Interpolation)

5: ENDOF_INTERPOLATE (Last Interpolation Segment)

(Reserved for the system)
6: LATCH (Interpolation Mode with Latch Input)

7: FEED (Jog Mode)

8: STEP (Relative Position Mode) (Step mode)

9: ZSET (Set Zero Point)
10: ACC (Change Acceleration Time)
11: DCC (Change Deceleration Time)
12: SCC (Change Filter Time Constant)
13: CHG_FILTER (Change Filter Type)
14: KVS (Change Speed Loop Gain)
15: KPS (Change Position Loop Gain)
16: KFS (Change Feed-forward)
17: PRM_RD (Read User Constant)
(Read SERVOPACK parameter)
18: PRM_WR (Write User Constant
(Write SERVOPACK parameter)
19: ALM_MON (Alarm Monitor)
20: ALM_HIST (Alarm History Monitor)
21: ALMHIST_CLR (Clear Alarm History)
22: ABS_RST (Absolute Encoder Reset)
23: VELO (Speed Reference)

24: TRQ (Torque/Thrust Reference)

25: PHASE (Phase Reference)

26: KIS (Change Position Loop Integral Time Constant)
27: PPRM_WR (Stored Parameter Write)
39: MLTTRN_SET (Multiturn Limit Setting)

Yes

4.4.2 ( 7 )

Motion Command
Control Flag

Bit 0: Holds a Command (0: OFF/1: ON)

Yes

4.4.2 ( 8 )

Bit 1: Interrupt a Command (0: OFF/1: ON)

Yes

Bit 2: Moving Direction (JOG/STEP) (0: Forward rotation/1:
Reverse rotation)

Yes

Bit 3: Zero point Direction Selection (0: Reverse rotation/1: For-

ward rotation)

Yes

−

Bit 4: Latch Zone Effective Selection (0: Disabled/1: Enabled)

Yes

−

Bit 5: Position Reference Type

(0: Incremental Value Add Method/1: Absolute Value Set
Method)

Yes

Bit 6: Phase Compensation Type

(0: Incremental Value Add Method/1: Absolute Value Set
Method)

Yes

−

Bits 7 to F: Reserved for system use.

−

0A Motion Subcommand

0: NOP (No command)

Yes

4.4.2 ( 9 )

1: PRM_RD (Read User Constant) (Read SERVOPACK
parameter)
2: PRM_WR (User Constant) (Write SERVOPACK parameter)
3: Reserved
4: SMON (Status monitor)

Yes

−

5: FIXPRM_RD (Read Fixed Parameters)

Yes

−

Reserved for system use.

−

* These commands are move commands.

(cont’d)

Name

Contents

SVB SVR Reference