YASKAWA MP2200

8.3
Motion Commands
8-19
• Target Position (CPOS) (IL

10)
• Machine Coordinate System Position (MPOS) (IL

12): MPOS is always equal to CPOS.
• Machine Coordinate Feedback Position (APOS) (IL

16): APOS is always equal to CPOS.
[ b ] Related Parameters
■
Setting 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 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 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
Setting
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).
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