Yaskawa MP940 User Manual
Page 268
Parameters
6.3.2 Motion Setting Parameter Details
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Motion Command
Control Flags
(MCMDCTRL)
OWC021
Set motion command auxiliary functions.
0
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 execution using an OWC020: Motion Com-
mand Code. IBC0151: 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.
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 OWC020:
Motion Command Code. IBC0150: Busy turns ON
if processing has been aborted. Step execution can
be aborted by setting the motion command to NOP.
0
2
Direction of
Movement for
JOG or STEP
(DIRECTION)
Set the movement direction. This bit is enabled
when a Motion Command Code (OWC020) is set
to constant-speed feed or inching.
0: Forward direction
1: Reverse direction
0
(Forward
direction)
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
OWC037: Primary Lag Constant is set to “0” and
it is used in Phase Control Mode or Zero Point
Return Control Mode.
0
4 to 7
Filter Type
Selection (FIL-
TERTYPE)
Set the type of acceleration filter.
0: No filter
1: Exponential filter
2: Average movement filter
OWC014: Filter Time Constant is valid if this
parameter is set to “1” or “2.”
0
(No filter)
8
Position Loop P/
PI Switch
(POS_PPI)
Set whether to use P or PI control for position con-
trol.
0: P control
1: PI control
This parameter is used in Phase Control Mode or
Zero Point Return Mode.
0
(P control)
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 OWC021.). The parameter is used in Phase
Control Mode or Zero Point Return Mode.
This parameter is used in Phase Control Mode or
Zero Point Return Mode.
0
10
Speed Compen-
sation
(OWC018) dur-
ing Position
Control (NCOM-
SEL)
When this bit turns ON, data set at OWC018:
Speed Compensation Setting is added as a speed
compensation (1 = 0.01 %) to the position loop
calculation.
This parameter is used in Phase Control Mode or
Zero Point Return Mode.
0
11
SGDH Serial
Command
Enable (SCMD)
SGDH Serial Command Enable Flag
0: ON; 1: OFF
0
No.
Name
Register
Number
Bit Name
Description
Default