YASKAWA JEPMC-MP2300S-E - Page 531

Appendix G Settings when Connecting MECHATROLINK-II Compatible Stepping Motor Drivers
G.6 Motion Command Details
A-29
Appendices
G.6 Motion Command Details
( 1 ) Latch Torque Positioning (EX_POSING) (External Positioning)
The axis motion depends on the setting of the External Positioning Move Distance Parameter Options (bit 9) of the
stepper parameter Parameter Switch (0000h).
( 2 ) Zero Point Return (ZRET)
The setting parameter Zero Point Return Method (OW3C) is invalid and will be ignored.
Select the latch signal for zero point return motion by using Latch Detection Signal Selection bits 0 to 3 of the setting
parameter Function Setting 2.
The axis motion depends on the setting of Zero Point Return Speed Parameter Options (bit A) and Home Offset Param-
eter Options (bit B) of the stepper parameter Parameter Switch (0000h).
( 3 ) Change Acceleration Time (ACC)
( 4 ) Change Deceleration Time (DCC)
Parameter Switch (0000h),
bit 9: External Positioning Move Distance
Parameter Options
Operation
0: Standard Parameter
The external positioning will be carried out using the value set in the setting
parameter External Positioning Final Travel Distance (OL46) as the move
amount after the external signal input.
1: Unique Parameter
The external positioning will be carried out using the stepper parameter of the
stepper model as the move amount after the external signal input.
Parameter Switch (0000h) Operation
0: Standard Parameter
The zero point return will be carried out according to the following parameter
settings:
OW09 Motion Command Control Flag, bit 3: Zero Point Return Direction
Selection
OL3E: Approach Speed
OL40: Creep Rate
OL42: Zero Point Return Travel Distance
1: Unique Parameter
The zero point return will be carried out according to the parameter of the stepper
model.
Parameter Switch (0000h),
bit 8: Acceleration/Deceleration Rate
Parameter Options
Operation
0: Standard Parameter
The values determined by the following setting parameters will be written into
stepper parameters:
OW03 Function setting 1, bits 4 to 7: Acceleration/Deceleration Degree Unit
Selection
OL36: Straight Line Acceleration/Acceleration Time Constant
1: Unique Parameter
The values determined by the setting parameters will not be written into the step-
per parameters. The execution will be normally completed.
Parameter Switch (0000h),
bit 8: Acceleration/Deceleration Rate
Parameter Options
Operation
0: Standard Parameter
The value determined by the following setting parameter will be written to the
stepper parameter.
OW03 Function Setting 1, bits 4 to 7: Acceleration/Deceleration Degree
Unit Selection
OL38: Straight Line Deceleration/Deceleration Time Constant
1: Unique Parameter
Writing to the stepper parameter will not be implemented. The execution will be
normally completed.