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).
R
R
R
R
R
R
R
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YASKAWA MP2000 Series Specifications

General

Control Method	Digital Control
Communication Protocols	PROFIBUS-DP, MECHATROLINK-II
Programming Language	Structured Text
Operating Temperature	0°C to 55°C
Storage Temperature	-20°C to 65°C

Summary

Overview

SVB Module Overview and Features

Provides an overview and features of the SVB Module, including its capabilities and architecture.

Specifications

Details the hardware and general specifications of the SVB-01 Module.

Settings and Installation

LED Indicators and Switch Settings

Explains LED indicators, status indications, and switch settings for the SVB-01 Module.

Mounting/Removing SVB-01 Modules

Self-configuration and Created Definition Files

Self-configuration Overview

Explains the self-configuration function and how it reduces system startup time.

How to Execute Self-configuration

Describes two methods for executing self-configuration: using DIP switch and using MPE720.

System Startup Using Self-Configuration

Details system startup procedures for first-time setup, adding devices, and replacing devices.

Self-configuration and Definition Files

Motion Parameters

Motion Parameters Register Numbers

Motion Parameters Setting Window

Motion Parameter Lists

Motion Parameter Setting Examples

Example Setting of Motion Parameters for the Machine

Position Reference

Speed Reference

Acceleration/Deceleration Settings

Motion Commands

Motion Command Table

Motion Commands Supported by SERVOPACK Models

Motion Command Details

Provides detailed descriptions of individual motion commands, including their execution procedures and parameters.

Absolute Position Detection

Absolute Position Detection Function

Explains the function of absolute position detection and its features.

Setting Procedure of Absolute Position Detection Function

Details the system startup flowchart and initialization procedures for absolute encoders.

Absolute Position Detection for Finite Length Axes

Describes parameter settings and precautions for finite length axes using absolute position detection.

Absolute Position Detection for Infinite Length Axes

Explains position control methods for infinite length axes using absolute position detection.

Settings for Connecting Inverters

Specifications for Communications with Connected Inverters

Operating Inverters Using an MPE720

Guides on checking items before operation, operation precautions, and procedures for using inverters with MPE720.

Main Commands and Subcommands

Inverter Alarm and Warning Codes

Classifies and lists inverter errors, alarms, and warnings.

Utility Functions

Controlling Vertical Axes

Overtravel Function

Details connections and parameter settings for stopping the machine when the moving part exceeds movement range.

Software Limit Function

Explains setting upper and lower limits for machine movement to prevent runaway or damage.

Troubleshooting

Troubleshooting System Errors

Provides information for troubleshooting system errors, including register allocations and error status.

Motion Program Alarms

Details motion program alarms, their configuration, and alarm codes.

List of Causes for Command Error Occurrence

Lists causes of command error occurrences for each motion command.

Troubleshooting Motion Errors

Explains details and corrective actions for errors occurring in motion control functions.