Yaskawa MP2200 Machine Controller - Manual (Page 242)

5 Motion Commands
5.2.2 External Positioning (EX_POSING)
5-12
（ Note） : Parameters only for the SVB-01 Module.
[ b ] Monitoring Parameters
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).
OL††46
External Positioning
Move Distance
Set the moving amount to move after the external positioning signal is input.
(cont’d)
Parameter Name Setting
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 to 1 (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††0C2 Latch Completed
This bit turns OFF when a new latch command is executed and turns ON when the latch has
been completed. The latched position is stored as the Machine Coordinate Latch Position
(monitoring parameter IL††18).
IB††0C3 Position Proximity
The operation depends on the setting of the Positioning Completed Width 2 (setting parameter
OL††20).
OL††20 = 0: Turns ON when pulse distribution has been completed (DEN = ON).
OL††20
≠0: Turns ON when MPOS - APOS< Position Proximity Setting even if pulse
distribution has not been completed.
OFF in all other cases.
IL††18
Machine Coordinate
Latch Position
Stores the current position in the machine coordinate system when the latch signal turned ON.