Yaskawa MP2200 Machine Controller - Manual (Page 427)

8.2 Motion Parameters
8-11
[ d ] Motion Command Control Flags
[ e ] Motion Subcommands
[ f ] Torque Reference
[ g ] Speed Reference
OW††09
Motion Command Options
Setting Range Setting Unit Default Value
− − 0000H
OW††09
Bit 0
Command Pause
0: Command Pause OFF (default), 1: Command Pause ON
Bit 1
Command Abort
0: Command Abort OFF (default), 1: Command Abort ON
Bit 2
JOG/STEP Direction
0: Forward (default), 1: Reverse
Bit 5
Position Reference Type
0: Incremental addition mode (default), 1: Absolute position reference mode
Position Phase Speed Torque
OW††0A
Motion Subcommand
Setting Range Setting Unit Default Value
0 to 5 − 0
Set the motion subcommand to be used with the motion command.
Only 0: NOP and 5: FIXPRM_RD can be used.
Position Phase Speed Torque
OL††0C
Torque Reference
Setting Range Setting Unit Default Value
−2 31 to 2 31 −1
Depends on the torque unit set in
Function 1 (setting parameter
OW††03 bits C to F).
0
Set the torque reference for torque reference commands.
Position Phase Speed Torque
OL††10
Speed Reference
Setting Range Setting Unit Default Value
−2 31 to 2 31 −1
Depends on the speed unit set in
Function 1 (setting parameter
OW††03 bits 0 to 3).
3000
Set the speed reference.
Position Phase Speed Torque