YASKAWA MP2100 Series - Page 259

8 Motion Commands
8-50
(3) Related Parameters
(a) Setting Parameters
(b) Monitoring Parameters
(4) Timing Charts
(a) Normal End
(b) Error End
Parameter Name Setting
OW

03 Function 1 Set the speed unit, acceleration/deceleration unit, and filter type.
OW

08 Motion Command The linear acceleration time constant is changed when this parameter is set to 10.
OB

090 Command Pause This parameter is ignored for ACC command.
OB

091 Command Abort This parameter is ignored for ACC command.
OL

36 Linear Acceleration
Time
Set the acceleration for feeding as the acceleration time.
Parameter Name Monitor Contents
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 will be 10 during ACC command execution.
IB

090 Command Executing Turns ON during ACC command execution and turns OFF when execution has
been completed.
IB

091 Hold Completed Always OFF for ACC command.
IB

093 Command Error End Turns ON if an error occurs during ACC command execution. Turns OFF when
another command is executed.
IB

098 Command
Completed
Turns ON when ACC command execution has been completed.
OW08 = 10 (ACC)
IW08 = 10 (ACC)
IB090 (BUSY)
IB098 (COMPLETE)
IB093 (FAIL)
Undefined
length of time
OW08 = 10 (ACC)
IW08 = 10 (ACC)
IB090 (BUSY)
IB098 (COMPLETE)
IB093 (FAIL)
Undefined
length of time