YASKAWA MP2200

8
SVR Virtual Motion Module
8.3.2
Motion Command Details
8-22
[ 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 2.
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 2. The operation will be canceled if this
parameter is set to 0 during EX_POSING command execution.
OB

090
Command Pause
The axis will decelerate to a stop if this bit is set to 1 during execution of EX_POSING
command execution. The positioning will restart if this bit is turned OFF 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 EX_POSING command execution.
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 2.
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).
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 2 during EX_POSING command execution.
IB

090
Command Executing
The Command Executing bit will turn ON during EX_POSING command execution and then
turn OFF when command execution 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 EX_POSING command execution.
IB

093
Command Error End
Turns ON if an error occurs during EX_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
Turns ON when EX_POSING command execution has been completed.
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 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.
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