Yaskawa MP2200 Machine Controller - Manual (Page 484)

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.