Yaskawa MP2200 Machine Controller - Manual (Page 287)

5.2 Motion Command Details
5-57
( 3 ) Related Parameters
[ a ] Setting Parameters
（ Note） : Parameters only for the SVB-01 Module.
[ b ] 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
SVB-01: Sets the speed unit, acceleration/deceleration unit, and filter type.
SVA-01: Sets the filter type.
OW††08 Motion Command The positioning starts when this parameter is set to 4.
OB††095
Position Reference
Setting
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††1E
Positioning
Completed Width
Set the width in which to turn ON the Positioning Completed bit (IB††0C1).
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††30
Speed Feed Forward
Compensation
Set the feed forward amount as a percentage of the rated speed.
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 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 and the current position is
within the Positioning Completed Width. OFF in all other cases.