Yaskawa MP2000 - Manual (Page 12)

MP2000 Quick Reference Guide Rev1.21
Basic Set of Registers
for Register-Based Programming
Assume Module(Circuit) #1, Axis #1. Add 800h per circuit, 80h per axis.
Motion Setting Registers ( O Wxxxx)
Name Word Bit [Unit] / Note Reference
Servo On OB8000 0
Alarm Clear OB8000 F
Speed ("Feed" Speed) OL8010
[10^3 R.U./minute (by default)]
Select Speed Units in OW8003.0-3
Motion Command Code OW8008 1=Position, 3=Home, 7=Jog, 8=Step
Position Reference OL801C [R.U.] Default R.U. is encoder count
Abs/Inc Position Mode OB8009 5 1=Abs, 0=Inc (default)
Step Distance OL8004 [R.U.] Default R.U. is encoder count
Direction (Step,Jog) OB8009 2 0=Fwd, 1=Rev
Acceleration OL8036
[ms to rated speed (FP34)]
Select Acceleration Units in OW8003.4-7
Deceleration OL8038
[ms to rated speed (FP34)]
Select Deceleration Units in OW8003.4-7
Motion Monitoring Registers ( I Wxxxx)
Name Word Bit [Unit] / Note Reference
Servo Alarm IL8004
=0 when no alarm. Each bit represents
different alarm
Servo Warning IL8002
=0 when no warning Each bit represents
different warning
Mtn Cmd Code confirm IW8008
Main Power On IB802C 4
Servo Ready IB8000 3
IB8000 1
IB802C 3
Feedback Position IL8016 [counts or Reference Units]
Feedback Speed IL8040
Positioning Complete IB800C 1
Servo On Confirm
Terminology used on this page
"R.U.": Minimum increment of motion. By default 1 R.U. = 1 Count. Used fixed parameters to change.
"Count": post-quadrature encoder count
"Pulse": pre-quadrature encoder pulse
Page 12 of 25