Yaskawa MP930 - Manual (Page 209)

Parameters
5.2.2 Setting Parameters
5 -24
Parameter
No.
Default Description Register
No.
Name
28 Motion command code OWxx20 Set the following command numbers for this parameter to send
commands to the MECHATROLINK servo. 0
0: NOP No command
1: POSING Positioning
2: EX_POSING External positioning
3: ZRET Zero point return
4: INTERPOLATE Interpolation
5: ENDOF_
INTERPOLATE
Interpolation end segment
6: LATCH Interpolation with position detection func-
tions
7: FEED Fixed speed feed
8: STEP Fixed length feed
9: ZSET Zero point setting
10: ACC Change the acceleration time
11 −
12: SCC Change the filter time constant
13: CHG_FILTER Change the filter type
14: KVS Change the speed loop gain (kv)
15: KPS Change the position loop gain (kp)
16: KFS Change the feed forward (kf)
17: CN_RD Read the MECHATROLINK servo user
constant
18: CN_WR Write the MECHATROLINK servo user
constant
19: ALM_MON Monitor the MECHATROLINK servo
alarms
20: ALMHIST_MON Monitor the MECHATROLINK servo
alarm history
21: ALMHIST_CLR Clear the MECHATROLINK servo alarm
history
5