Yaskawa MP920 Motion Module User Manual
Page 218
5 SVA Module Specifications and Handling
5.4.2 Motion Setting Parameters
5-76
34
Motion Com-
mand Control
Flags
(MCMDCTRL)
OW21
Set motion command auxiliary functions.
Bit 0
Command Hold
(HOLD)
The machine decelerates to a stop if this bit turns ON
while an axis is moving during positioning or step execu-
tion using an OW20: Motion Command Code.
IB151: Hold Completed turns ON when the HOLD
has been completed. If this bit goes back OFF at this
point, the hold is canceled and positioning restarts.
0
Bit 1
Command Abort
(ABORT)
The machine decelerates to a stop if this bit turns ON
while an axis is moving during positioning, zero point
return, or STEP using an OW20: Motion Command
Code. The BUSY bit (IB150) turns ON when
ABORT is being executed, and it turns OFF when the
execution of ABORT completes. Step execution can be
aborted by setting the motion command to NOP.
0
Bit 2
Direction of
Movement
(DIRECTION)
Set the movement direction. This bit is enabled when a
Motion Command Code (OW20) is set to constant-
speed feed or inching.
0: Forward direction
1: Reverse direction
0
(Forward
direction)
Bit 3
No Primary Lag
(LAGRST)
The primary lag is reset if this bit turns ON in a position
loop. It functions the same as when OW37: Primary
Lag Constant is set to “0” and it is used in Position Con-
trol Mode or Zero Point Return Control Mode.
0
Bit 4 to 7
Filter Type
Selection
(FILTERTYPE)
Set the type of acceleration filter.
0: No filter
1: Exponential filter
2: Average movement filter
OW14: Filter Time Constant is valid if this parame-
ter is set to “1” or “2.”
0
(No filter)
Bit 8
Position Loop P/
PI Switch
(POS_PPI)
Used in Position Control Mode or Zero Point Return
Mode.
Set whether to use P or PI control for position control.
0: P control
1: PI control
0
Bit 9
Position Control
Integration Reset
(POS_IRST)
PI control integration resets if this bit turns ON when
using a position loop in PI control (Refer to bit 8 of
OW21). The parameter is used in Position Control
Mode or Zero Point Return Mode.
0
Bit 10
Speed Compen-
sation
(OW18)
during Position
Control
(NCOMSEL)
Used in Position Control Mode or Zero Point Return
Mode.
When this bit turns ON, data set at OW18: Speed
Compensation Setting is added as a speed compensation
(1 = 0.01 %) to the position loop calculation.
0
Bit 11
Not used.
Set to “0.”
0
Bit 12
Reverse Limit
Signal for Zero
Point Return
(LMT_L)
This bit functions as a reverse limit signal when returning
to the zero point (ZRET). The external signal (DI signal
input by the LIO-01 or other Module) in the user program
must be connected (i.e., programmed) to OB21C.
0
Table 5.6 Motion Setting Parameters (cont’d)
No.
Name
Register
Number
Setting Range/
Bit Name
Description
Factory
Setting