YASKAWA MP Series User Manual

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.

YASKAWA MP Series Specifications

General

Brand	YASKAWA
Model	MP Series
Category	Controller
Language	English