Yaskawa MP920 Motion Module - Manual (Page 134)

4 Parameters
4.2.2 Motion Setting Parameters
4-14
33 Motion
Command Code
(MCMDCODE)
(cont’d) OW††20 0 to 65535
(Default = 0) 20: AMHIST_MON Monitor current
servo driver alarm
history − − √ −
21: ALMHIST_CLR Clear servo driver
alarm history − − √ −
22 to 65535: Not used − − − −
34 Motion Com-
mand Control
Flags
(MCMDCTRL)
(Default = 0, all
bits OFF) OW††21 Bit 0: HOLD Command Hold 0: OFF, 1: ON √ √ √ √
Bit 1: ABORT Command Abort 0: OFF, 1: ON √ √ √ √
Bit 2: DIRECTION Direction of Movement
For JOG and STEP 0: Forward
1: Reverse √ √ √ √
Bit 3: P_PI Speed Loop P/PI Switch 0: PI, 1: P − − √ −
Bit 3: REMCUT No Feed Speed Remain-
der Compensation 0: OFF, 1: ON − − − √
Bit 3: LAGRST No Primary Lag (Same
as primary lag time
constant = 0) 0: OFF, 1: ON √ √ − −
Bits 4 to 7:
FILTERTYPE Filter Type Selection
0: No filter.
1: Exponential filter (exponential accelera-
tion/deceleration)
2: Movement averaging filter (simple
S-curved acceleration/deceleration) √ √ √ √
Bit 8: POS_PPI Position Loop P/PI Switch
0: P
1: PI √ √ − −
Bit 9: POS_IRST Position Control
Integration Reset 0: OFF, 1: ON √ √ − −
Bit 10: NCOMSEL Speed Compensation
(OW††18) during
Position Control 0: OFF, 1: ON √ √ − −
Bit 11: Not used. − − − − −
Bit 12: LMT_L Reverse Limit Signal for
Zero Point Return These bits are
valid only when
bits 3 and 4 of
fixed parameter
No. 14 (Addi-
tional Function
Selections) are set
to 0 (Use
OB††21†).
0: OFF, 1: ON √ √ − √
Bit 13: LMT_R Forward Limit Signal for
Zero Point Return √ √ − √
Bit 14: BUF_W Position Buffer Write 0: OFF
1: ON √ √ √ √
Bit 15: BUF_R Position Buffer Read 0: OFF
1: ON √ √ √ √
Table 4.3 Motion Setting Parameters (cont’d)
No. Name Register
Number
Setting Range/
Bit Name
Meaning Remarks SVA
-01A
SVA
-02 A
SVB
-01
PO-
01