YASKAWA MP Series User Manual

6.2 Motion Command Details
6.2.12 Change Filter Type (CHG_FILTER)
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6.2.12 Change Filter Type (CHG_FILTER)
The CHG_FILTER command enables the current setting of the Filter Type Selection (motion setting parameter
OW03, bits 8 to B) for execution of the following motion commands with the movement: POSING, EX_POSING,
ZRET, INTERPOLATE, LATCH, FEED, and STEP.
 Always execute the CHG_FILTER command after changing the setting of OW03, bits 8 to B. If this is not exe-
cuted, the change in the Filter Type setting will not be validated.
( 1 ) Executing/Operating Procedure
1. Check to see if all the following conditions are satisfied.
2. Set OW08 to 13 to execute the CHG_FILTER motion command.
The Filter Type Selection (motion setting parameter OW03 Bit8 to B) will be enabled.
IW08 will be 13 during command execution.
IW09, bit 0 will turn ON during the command processing and will turn OFF when the command processing
has been completed.
3. Set OW08 to 0 to execute the NOP motion command and then complete the change of the filter
type.
( 2 ) Holding and Aborting
The Holds a Command bit (OW09, bit 0) and the Interrupt a Command bit (OW09, bit 1) cannot be used.
( 3 ) Related Parameters
[ a ] Setting Parameters
[ b ] Monitoring Parameters
No. Execution Conditions Confirmation Method
1 There are no alarms. Both IL02 and IL04 are 0.
2 Pulse distribution has been completed for the SERVOPACK. IW0C, bit 0 is ON.
3 Motion command execution has been completed. IW08 is 0 and IW09, bit 0 is OFF.
Parameter Name Setting
OW03 Function Setting 1
Set the speed unit, acceleration/deceleration units, and filter type.
OW08 Motion Command
The filter type is changed when this parameter is set to 13.
OW09
Bit 0
Holds a Command
This parameter is ignored for CHG_FILTER command.
OW09
Bit 1
Interrupt a Command
This parameter is ignored for CHG_FILTER command.
Parameter Name Monitor Contents
IL02 Warning
Stores the most current warning.
IL04 Alarm
Stores the most current alarm.
IW08
Motion Command
Response Code
Indicates the motion command that is being executed.
The response code will be 13 during CHG_FILTER command execution.
IW09
Bit 0
Command Execution
Flag
Turns ON during CHG_FILTER command execution and turns OFF when execution
has been completed.
IW09
Bit 1
Command Hold
Completed
Always OFF for CHG_FILTER command.
IW09
Bit 3
Command Error
Completed Status
Turns ON if an error occurs during CHG_FILTER command execution. Turns OFF
when another command is executed.
IW09
Bit 8
Command Execution
Completed
Turns ON when CHG_FILTER command execution has been completed.

YASKAWA MP Series Specifications

General

Brand	YASKAWA
Model	MP Series
Category	Controller
Language	English