YASKAWA MP2200

8
SVR Virtual Motion Module
8.3.2
Motion Command Details
8-26
[ b ] Related Parameters
■
Setting Parameters
■
Monitoring Parameters
Parameter Name Setting
OB

000
Servo ON
Turns the power to the Servomotor ON and OFF.
1: Power ON to Servomotor, 0: Power OFF to Servomotor
Turn ON this bit 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 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
Setting
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.
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