YASKAWA MP2000 Series User Manual

6.2 Motion Command Details
6.2.1 Position Mode (POSING) (Positioning)
6-7
Motion Commands
( 4 ) Related Parameters
[ a ] Setting Parameters
 Terminology: Pulse distribution
Pulse distribution transfers reference values from the Machine Controller registers to the SERVOPACK registers every scan.
Used in describing motion command operation.
Parameter Name Setting SVR
OW00
Bit 0
Servo ON
Turn the power to the Servomotor ON and OFF.
1: Power ON to Servomotor, 0: Power OFF to Servomotor
Turn ON the power before setting the Motion Command (OW08) to 1.
OW01
Bit 3
Speed Loop
P/PI Switch
Switch the speed control loop between PI control and P control.
0: PI control, 1: P control
−
OW03 Function Setting 1
Set the speed unit, acceleration/deceleration units, and filter type.
OW08 Motion Command
The positioning starts when this parameter is set to 1.
The operation will be canceled if this parameter is set to 0 during POSING com-
mand execution.
OW09
Bit 0
Holds a Command
The axis will decelerate to a stop if this bit is set to 1 during POSING command
execution.
The positioning will restart if this bit is reset to 0 when a command is being held.
OW09
Bit 1
Interrupt a Command
The axis will decelerate to a stop if this bit is set to 1 during POSING command
execution.
When this bit is reset to 0 after decelerating to a stop, the operation depends on
the setting of the Position Reference Type (OW09, bit 5).
OW09
Bit 5
Position Reference
Type
Switch the type of position reference.
0: Incremental addition mode, 1: Absolute mode
Set this bit before setting the Motion Command (OW08) to 1.
OL10
Speed Reference
Setting
Specify the speed for the positioning. Only a positive value can be set.
This setting can be changed during operation. The unit depends on the Function
Setting 1 setting (OW03, bits 0 to 3).
OW18 Override
This parameter allows the positioning speed to be changed without changing the
Speed Reference Setting (OL10). Set the speed as a percentage of the Speed
Reference Setting. This setting can be changed during operation.
Setting range: 0 to 32767 (0% to 327.67%) Setting unit: 1 = 0.01%
Example: Setting for 50%: 5000
−
OL1C
Position Reference
Setting
Set the target position for positioning. This setting can be changed during opera-
tion.
The meaning of the setting depends on the status of the Position Reference Type
bit OW09, bit 5.
OL1E
Width of Positioning
Completion
Set the width in which to turn ON the Positioning Completed bit (IW0C, bit
1).
−
OL20
NEAR Si
gnal Output
Wi
dth
Set the range in which the NEAR Position bit (IW0C, bit 3) will turn ON.
The NEAR Position bit will turn ON when the absolute value of the difference
between the reference position and the feedback position is less than the value set
here.
−
OL36
Straight Line Acceler-
ation/ Acceleration
Time Constant
Set the rate of acceleration or acceleration time constant for positioning.
OL38
Straight Line Deceler-
ation/ Deceleration
Time Constant
Set the rate of deceleration or deceleration time constant for positioning.
OW3A Filter Time Constant
Set the acceleration/deceleration filter time constant. Exponential acceleration/
deceleration or a moving average filter can be selected in the Function Setting 1
bit (OW03, bits 8 to B).
Change the setting only after pulse distribution has been completed for the com-
mand (IW0C, bit 0 is ON).
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YASKAWA MP2000 Series Specifications

General

Brand	YASKAWA
Model	MP2000 Series
Category	Controller
Language	English