YASKAWA MP Series User Manual

Appendix G Settings when Connecting MECHATROLINK-II Compatible Stepping Motor Drivers
G.5 Availability When Using M-II Steppers
A-27
Appendices
G.5 Availability When Using M-II Steppers
( 1 ) Limitation in Motion Command Application
For M-II Steppers, the applications of some motion commands are limited as follows.
: Applicable, ×: Not applicable, Δ: Limited application
 Refer to G.6 Motion Command Details for details.
Motion Command
Applica-
tion
Description
0
No command (NOP) 
−
1
Position Mode (POSING) (Positioning) 
−
2
Latch Target Positioning (EX_POSING)
(External positioning)

The axis motion depends on the setting of the Parameter
Switch.
3
Zero Point Return (ZRET) Δ
Zero Point Return Method (zero point return method selec-
tion) is invalid.
The axis motion depends on the setting of the Parameter
Switch.
4
Interpolation (INTERPOLATE) 
−
5
Last Interpolation Segment
(ENDOF_INTERPOLATE)

−
6
Interpolation Mode with Latch Input
(LATCH)

−
7
Jog Mode (FEED) 
−
8
Relative Position Mode (STEP)
(Step mode)

−
9
Set Zero Point (ZSET) 
−
10
Change Acceleration Time (ACC) 
The axis motion depends on the setting of the Parameter
Switch.
11
Change Deceleration Time (DCC) 
The axis motion depends on the setting of the Parameter
Switch.
12
Change Filter Time Constant (SCC) ×
Invalid. If executed, a normal completion response will be
returned although no processing has been implemented.
13
Change Filter Type (CHG_FILTER) ×
Invalid. If executed, a normal completion response will be
returned although no processing has been implemented.
Use the Option Setting parameter OW06 to select a filter
type.
14
Change Speed Loop Gain (KVS) ×
Invalid. If executed, a normal completion response will be
returned although no processing has been implemented.
15
Change Position Loop Gain (KPS) ×
16
Change Feed Forward (KFS) ×
17
Read User Constant
(PRM_RD)

−
18
Write User Constant
(PRM_WR)

−
19
Alarm Monitor (ALM_MON) 
−
20
Alarm History Monitor
(ALM_HIST)

−
21
Clear Alarm History (ALMHIST_CLR) 
−
22
Absolute Encoder Reset (ABS_RST) ×
Use is prohibited. If executed, the Command Error Com-
pleted Status bit will turn ON.
23
Speed Reference (VELO) ×
24
Torque/Thrust Reference (TRQ) ×
25
Phase Reference (PHASE) ×
26
Change Position Loop Integral Time
Constant (KIS)
×
Invalid. If executed, a normal completion response will be
returned although no processing has been implemented.
27
Stored Parameter Write
(PPRM_WR)

−
39
Multiturn Limit Setting (MLTTRN_SET) ×
Use is prohibited. If executed, the Command Error Com-
pleted Status bit will turn ON.

YASKAWA MP Series Specifications

General

Brand	YASKAWA
Model	MP Series
Category	Controller
Language	English