YASKAWA MP2100 Series - Page 366

11.3 Motion Commands
11-27
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
Set this bit to 1 before setting the Motion Command (OW

08) to 6.
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 6.
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 6.
OL

1C Position Reference
Type
Set the target position for positioning. The setting can be changed every high-
speed scan.
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 motion command during execution.
The response code is 6 during LATCH operation.
IB

090 Command Executing Always OFF for LATCH operation.
IB

091 Command Hold
Completed
Always OFF for LATCH operation.
IB

093 Command Error End Turns ON if an error occurs during LATCH operation. 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 LATCH operation.
IB

0C0 Distribution Completed Turns ON when 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.