YASKAWA MP2100 Series User Manual

11.3 Motion Commands
11-19
11
(b) Related Parameters
• Setting Parameters
• Monitoring Parameters
Parameter Name Setting
OB

000 Servo ON Turn the power to the Servomotor ON and OFF.
1: Servo ON to Servomotor, 0: Power OFF to Servomotor
Turn ON the power before setting the Motion Command (OW

08) to 1.
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 1. The operation will be
canceled if this parameter is set to 0 during POSING command execution.
OB

090 Command Pause The axis will decelerate to a stop if this bit is set to 1 during POSING
command execution. The positioning operation will restart if this bit is set to 0
when a command is being held.
OB

091 Command Abort The axis will decelerate to a stop if this bit is set to 1 during POSING
command execution. When this bit is set to 0 after stopping the operation
depends on the setting of the Position Reference Type (OB

095).
OB

095 Position Reference
Type
Switch the type of position reference.
0: Incremental addition mode, 1: Absolute mode
Set this bit before setting the Motion Command (OW

08) to 1.
OL

10 Speed Reference Specify the speed for the positioning. This setting can be changed during
operation. The unit depends on the setting of OW

03.
OL

1C Position Reference
Type
Set the target position for positioning. This setting can be changed during
operation. The meaning of the setting depends on the status of OB

095.
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 Acceleration
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 will be 1 during POSING command execution.
IB

090 Command Executing Turns ON when abort processing is being performed for POSING command.
Turns OFF when abort processing has been completed.
IB

091 Command Hold
Completed
Turns ON when a deceleration to a stop has been completed as the result of
setting the Command Pause bit (OB

090) to 1 during POSING command
execution.
IB

093 Command Error End Turns ON if an error occurs during POSING command execution. The axis
will decelerate to a stop if it is moving. Turns OFF when another command is
executed.
IB

098 Command Execution
Completed
Always OFF for POSING command. Use the Positioning Completed bit
(IB

0C1) to confirm completion of this command.
IB

0C0 Distribution Completed Turns ON when pulse distribution has been completed for the move
command.
Turns OFF during execution of pulse distribution.
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 Turns ON when Distribution Completed (DEN) turns ON.

YASKAWA MP2100 Series Specifications

General

Brand	YASKAWA
Model	MP2100 Series
Category	Controller
Language	English