YASKAWA MP2100 Series User Manual

8 Motion Commands
8-34
(3) Related Parameters
(a) Setting Parameters
(b) Monitoring Parameters
Parameter Name Setting
OB

000 Servo ON Turns the power to the Servomotor ON and OFF.
1: Power ON to Servomotor, 0: Power OFF to Servomotor
Set this bit to 1 before setting the Motion Command (OW

08) to 4.
OW

03 Function 1 Set the speed unit, acceleration/deceleration unit, and filter type.
OW

08 Motion Command The positioning starts when this parameter is set to 4.
OB

095 Position Reference
Type
Switch the type of position reference.
0: Incremental addition mode, 1: Absolute mode
Set this parameter before setting the Motion Command (OW

08) to 4.
OL

1C Position Reference
Type
Set the target position for positioning. The setting can be changed every high-
speed scan.
OL

1E Positioning
Completed Width
Set the width in which to turn ON the Positioning Completed bit (IB

0C1).
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

30 Speed Feed Forward
Compensation
Set the feed forward amount as a percentage of the rated speed.
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).
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 4 during INTERPOLATE command execution.
IB

090 Command Executing Always OFF for INTERPOLATE command.
IB

091 Hold Completed Always OFF for INTERPOLATE command.
IB

093 Command Error End Turns ON if an error occurs during INTERPOLATE command execution. The
axis will decelerate to a stop if it is moving. Turns OFF when another command
is executed.
IB

098 Command
Completed
Always OFF for INTERPOLATE command.
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.

YASKAWA MP2100 Series Specifications

General

Brand	YASKAWA
Model	MP2100 Series
Category	Controller
Language	English