YASKAWA MP2100 Series - Page 173

7 Motion Parameters
7.2.2 Motion Setting Parameter Details
7-18
(16) Position Reference Type
(17) Positioning Completed Width
OL

1C
Position Reference Type
Setting Range Setting Unit Default Value
−
2
31
to 2
31
−
1
Reference unit
0
Set the position reference.
This parameter is used by the following commands.
1: POSING Positioning
2: EX_POSING External Positioning
4: INTERPOLATE Interpolation
6: LATCH Latch
■
Related Parameters
OW

09, bit 5: Position Reference Type
OL

1E
Positioning Completed Width
Setting Range Setting Unit Default Value
0 to 65535
Reference unit
100
This bit shows the set value of a SERVOPACK parameter. Refer to
Appendix B.1 Parameters Updated when a Connection
is Established (MP2100/MP2100M to SERVOPACK)
for details.
When the Positioning Completed Signal (IB

2C7) turns ON after position reference distribution has completed for posi-
tion control, the Positioning Completed Signal (IB

0C1) turns ON.
Set values that are suitable for all machines in the system. If the value is too small, a long time will be required for position-
ing to complete.
■
Related Parameters
Fixed Parameter 4: Command Unit
Fixed Parameter 5: Number of Decimal Places
Fixed Parameter 6: Command Units per Revolution
Fixed Parameter 8: Gear Ratio [MOTOR]
Fixed Parameter 9: Gear Ratio [LOAD]
OW

2E: Position Loop Gain
I
B
0C
0: Distribution Completed (DEN)
I
B
0C
1: Positioning Completed (POSCOMP)
Position
Phase
Speed
Torque
Position
Phase
Speed
Torque
Speed
Position Error
Reference
Motor speed
Distribution completed
(IL1A)
Positioning
Completed Signal
(IB0C1)
OL1E