YASKAWA MP2100 Series - Page 269

8 Motion Commands
8-60
(3) Related Parameters
(a) Setting Parameters
(b) Monitoring Parameters
(4) Timing Charts
(a) Normal End
(b) Error End
Parameter Name Setting
OW

08 Motion Command
The position loop gain is changed when
this parameter is set to 15.
OB

090 Command Pause This parameter is ignored for KPS command.
OB

091 Command Abort This parameter is ignored for KPS command.
OW

2E Position Loop Gain Set the gain for the SERVOPACK position control loop.
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 is 15 during KPS command execution.
IB

090 Command Executing Turns ON during KPS command execution and turns OFF when execution has
been completed.
IB

091 Hold Completed Always OFF for KPS command.
IB

093 Command Error End Turns ON if an error occurs during KPS command execution. Turns OFF when
another command is executed.
IB

098 Command Completed Turns ON when KPS command execution has been completed.
OW08 = 15 (KPS)
IW08 = 15 (KPS)
IB090 (BUSY)
IB098 (COMPLETE)
IB093 (FAIL)
Undefined
length of time
OW08 = 15 (KPS)
IW08 = 15 (KPS)
IB090 (BUSY)
IB098 (COMPLETE)
IB093 (FAIL)
Undefined
length of time