YASKAWA MP2100 Series - Page 168

7.2 Motion Parameter Details
7-13
7
(6) Function 3
(7) Motion Command
OW

05
Function 3
Setting Range Setting Unit Default Value
−−0000H
OW

05 Bit 1 Close Position Loop Using OL

16
Disables/enables phase reference generation processing when executing phase refer-
ence commands. Enable this processing when an electronic shaft is being used, and
disable it when a electronic cam is being used.
0: Enabled (default)
1: Disabled
Speed feed forward control cannot be used for the SGD-N or SGDB-N SERVOPACK,
so Close Position Loop Using OL

16 cannot be used.
Bit B INPUT Signal for Zero Point Return
Use this bit as an input signal for the INPUT & C pulse or INPUT Only method.
0: INPUT signal OFF (default)
1: INPUT signal ON
OW

08
Motion Command
Setting Range Setting Unit Default Value
0 to 26 − 0
Set motion commands.
0: NOP No command
1: POSING Positioning
2: EX_POSING External Positioning
3: ZRET Zero Point Return
4: INTERPOLATE Interpolation
5: ENDOF_INTERPOLATE Reserved by system.
6: LATCH Latch
7
:
FEED JOG Operation
8: STEP STEP Operation
9: ZSET Zero Point Setting
10: ACC Change One-step Linear Acceleration Time Constant
11
:
DCC Change One-step Linear Deceleration Time Constant
12
:
SCC Change Filter Time Constant
13: CHG_FILTER Change Filter Type
14: KVS Change Speed Loop Gain
15: KPS Change Position Loop Gain
16: KFS Change Feed Forward
17
:
PRM_RD Read SERVOPACK Parameter
18
:
PRM_WR Write SERVOPACK Parameter
19
:
ALM_MON Monitor SERVOPACK Alarms
20: ALM_HIST Monitor SERVOPACK Alarm History
21
:
ALMHIST_CLR Clear SERVOPACK Alarm History
22: ABS_RST Reset Absolute Encoder
23: VELO Speed Reference
24
:
TRQ Torque Reference
25
:
PHASE Phase Reference
26: KIS Change Position Loop Integration Time Constant
Refer to Chapter 8 Motion Commands for details.
Position
Phase
Speed
Torque
Position
Phase
Speed
Torque