YASKAWA MP2200

9
Utility Functions
9.4.2
Parameters Updated when a Setting Parameter Is Changed (MP2200/MP2300 to SERVOPACK)
9-20
9.4.2 Parameters Updated when a Setting Parameter Is Changed
(MP2200/MP2300 to SERVOPACK)
When using the MECHATROLINK-II at 10 Mbps in 32-byte mode, the following parameters are
updated when a setting parameter is changed as along as bit A of fixed parameter 1 is set to enable
automatic updating of parameters.
* Also updated when bits 4 to 7 of OW

03 (Acceleration/Deceleration Unit) are changed.
9.4.3 Parameters Updated when a Motion Command Is Started
(MP2200/MP2300 to SERVOPACK)
* Only when bit A of fixed parameter 1 is set to enable automatic updating of parameters.
MP2200/MP2300
SERVOPACK
SGD-N,
SGDB-N
NS100 NS115 SGDS
Setting
Parameters
Position Completed Width
OL

1E
→
−−Pn500 Pn522
Position Loop Gain
OW

2E
→
−− Pn102
Speed Loop Gain
OW

2F
→
−− Pn100
Speed Feed Forward
Compensation
OW

30
→
−− Pn109
Position Loop Integration
Time Constant
OW

32
→
−− Pn11F
Speed Loop Integration Time
Constant
OW

34
→
−− Pn101
Linear Acceleration Time
*
OL

36
→
−− Pn80B
Linear Deceleration Time
*
OL

38
→
−− Pn80E
MP2200/MP2300
SERVOPACK
Remarks
SGD-N,
SGDB-N
NS100 NS115 SGDS
Setting
Parameters
Latch Zone Lower Limit
OL

2A
→
−−−Pn822
Updated when EX_POSING
command execution is started.
Latch Zone Upper Limit
OL

2C
→
−−−Pn820
Updated when EX_POSING
command execution is started.
Linear Acceleration Time
*
OL

36
→
Cn-0020 Pn80B
Updated when POSING,
EX_POSING, ZRET, FEED, or
STEP command execution is
started.
Linear Deceleration Time
*
OL

38
→
− Pn80E
S-curve Acceleration
Time
OW

3A
→
Cn-0026 Pn812
Updated when POSING,
EX_POSING, ZRET, FEED, or
STEP command execution is
started, but only when DEN =
ON (i.e., when pulse
distribution has been
completed).
Approach Speed
OL

3E
→
Cn-0022 Pn817
Updated when ZRET command
execution is started.
Creep Speed
OL

40
→
Cn-0023 Pn818
Updated when ZRET command
execution is started.
Home Offset
OL

42
→
Cn-0028 Pn819
Updated when ZRET command
execution is started.
External Positioning Move
Distance
OL

46
→
Cn-002B Pn814
Updated when EX_POSING or
ZRET command execution is
started.
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