YASKAWA MP2200 - Page 129

4.2
Motion Parameter Lists
4-9
OW

08
Motion Command
0: NOP
1: POSING
2: EX_POSING
3: ZRET
4: INTERPOLATE
5: ENDOF_INTERPOLATE
6: LATCH
7: FEED
8: STEP
9: ZSET
Yes Ye s Yes
10: ACC
11: DCC
12: SCC
13: CHG_FILTER
14: KVS
15: KPS
16: KFS
17: PRM_RD
18: PRM_WR
19: ALM_MON
20: ALM_HIST
21: ALMHIST_CLR
22: ABS_RST
Yes Yes
23: VELO
24: TRQ
25: PHASE
Yes Ye s Yes
26: KIS
Yes Yes
OW

09
Motion Command Control
Flags
Bit 0: Command Pause (0: OFF/1: ON)
Yes Ye s Yes
Bit 1: Command Abort (0: OFF/1: ON)
Yes Ye s Yes
Bit 2: JOG/STEP Direction (0: Forward rotation/1: Reverse
rotation)
Yes Ye s Yes
Bit 3: Home Direction (0: Reverse rotation/1: Forward rotation)
Yes Ye s
Bit 4: Latch Zone Enable (0: Disabled/1: Enabled)
Yes Ye s
Bit 5: Position Reference Type
(0: Incremental Addition Mode/1: Absolute Mode)
Yes Ye s Yes
Bits 6 to F: Reserved
OW

0A
Motion Subcommand
0: NOP
Yes Ye s Yes
1: PRM_RD
2: PRM_WR
3: Reserved
4: SMON
Yes
5: FIXPRM_RD
Yes Ye s Yes
OW

0B
－
Reserved
OL

0C
Torque Reference
Unit is according to OW

03, bits 12 to 15 (Torque Unit).
Yes Ye s Yes
OW

0E
Speed Limit during Torque
Reference
1 = 0.01% (percentage of rated speed)
Yes Ye s
OW

0F
Torque Reference Primary
Lag Filter
1 = 1 ms
Yes
OL

10
Speed Reference
Unit is according to OW

03, bits 0 to 3 (Speed Unit).
Yes Ye s Yes
OW

12
Forward Speed Limit
1 = 0.01% (percentage of rated speed
)
Yes
OW

13
Reverse Speed Limit
1 = 0.01% (percentage of rated speed
)
Yes
OL

14
Positive Side Limiting Torque
Setting at Speed Reference
Unit is according to OW

03, bits 0 to 3 (Speed Unit).
Yes Ye s
(cont’d)
Register No. Name Description
SVB
-01
SVA
-01
SVR
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