YASKAWA MP2100 Series User Manual

8 Motion Commands
8-12
(b) Monitoring Parameters
OL

2C Latch Zone Upper
Limit
Set the boundary in the positive direction of the area in which the external positioning
signal is to be valid.
OL

20 Positioning Complet-
ed Width 2
Set the range in which the Position Proximity bit (IB

0C3) will turn ON. The Position
Proximity 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 Linear Acceleration
Time
Set the rate of acceleration or acceleration time constant for positioning.
OL

38 Linear Deceleration
Time
Set the rate of deceleration or deceleration time constant for positioning.
OW

3A S-Curve Accelera-
tion Time
Set the acceleration/deceleration filter time constant. Exponential acceleration/
deceleration or a moving average filter can be selected in OW

03.
Change the setting only after pulse distribution has been completed for the command
(IB

0C0 is ON).
OL

46 External Positioning
Move Distance
Set the moving amount to move after the external positioning signal is input.
(cont’d)
Parameter Name Setting
Parameter Name Monitor Contents
IB

001 Servo ON Indicates the Servo ON status.
ON: Power supplied to Servomotor, OFF: Power not supplied to Servomotor
IL

02 Warning Stores the most current warning.
IL

04 Alarm Stores the most current alarm.
IW

08 Servo Command
Type Response
Indicates the motion command that is being executed.
The response code is 2 during EX_POSING command execution.
IB

090 Command Executing The Command Executing bit will turn ON during EX_POSING command execution and
then turn OFF when command execution has been completed.
IB

091 Hold Completed Turns ON when a deceleration to a stop has been completed as the result of to 1 the
Command Pause bit (OB

090) to 1 during EX_POSING command execution.
IB

093 Command Error End Turns ON if an error occurs during EX_POSING command execution. The axis will
decelerate to a stop if it is moving. Turns OFF when another command is executed.
IB

098 Command Completed Turns ON when EX_POSING command execution has been completed.
IB

0C0 Distribution
Completed
Turns ON when pulse distribution has been completed for the move command.
Turns OFF during execution of a move command.
IB

0C1 Positioning
Completed
Turns ON when pulse distribution has been completed and the current position is within
the Positioning Completed Width. OFF in all other cases.
IB

0C3 Position Proximity The operation depends on the setting of the Positioning Completed Width 2 (setting
parameter OL

20).
OL

20 = 0: Turns ON when pulse distribution has been completed (DEN = ON).
OL

20
≠
0: Turns ON when

MPOS - APOS

< Position Proximity Setting even if
pulse distribution has not been completed.
OFF in all other cases.
IL

18 Machine Coordinate
Latch Position
Stores the current position in the machine coordinate system when the latch signal turned
ON.

YASKAWA MP2100 Series Specifications

General

Brand	YASKAWA
Model	MP2100 Series
Category	Controller
Language	English