YASKAWA MP2100 Series - Page 364

11.3 Motion Commands
11-25
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: Power ON to Servomotor, 0: Power OFF to Servomotor
Turn ON the power 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 operation 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

20 Positioning Completed
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.
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 is 4 during INTERPOLATE command execution.
IB

090 Command Executing Always OFF for INTERPOLATE command.
IB

091 Command 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 Execution
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. OFF in all other cases.
IB

0C3 Position Proximity Turns ON when Distribution Completed (DEN) turns ON.