Yaskawa JAPMC-MC2300 - Manual (Page 145)

7.2 Motion Command Details
7.2.1 Positioning (POSING)
7-5
7
Motion Commands
( 4 ) Related Parameters
[ a ] Setting Parameters
Terminology: Pulse distribution
Pulse distribution transfers reference values from the Machine Controller registers to the SERVOPACK registers every scan.
Used in describing motion command operation.
Parameter Name Setting
OW 00
Bit 0
Servo ON
Turn the power to the Servomotor ON and OFF.
1: Power ON to Servomotor, 0: Power OFF to Servomotor
Set this bit to 1 before setting the Motion Command (OW
08) to 1.
OW 03 Function Setting 1 Set the speed unit, acceleration/deceleration unit, and filter type.
OW 08 Motion Command
The positioning starts when this parameter is set to 1.
The operation will be canceled if this parameter is set to 0 during POSING command
execution.
OW 09
Bit 0
Holds A Command
The axis will decelerate to a stop if this bit is set to 1 during POSING command execu-
tion.
The positioning will restart if this bit is reset to 0 when a command is being held.
OW 09
Bit 1
Interrupt A Command
The axis will decelerate to a stop if this bit is set to 1 during POSING command execu-
tion.
When this bit is reset to 0 after decelerating to a stop, the operation depends on the set-
ting of the Position Reference Type (OW
09, bit 5).
OW 09
Bit 5
Position Reference
Type
Select the type of position reference.
0: Incremental addition mode, 1: Absolute mode
Set this bit before setting the Motion Command (OW
08) to 1.
OL 10
Speed Reference
Setting
Specify the speed for the positioning.
This setting can be changed during operation. The unit depends on the Function Setting
1 setting (OW
03, bits 0 to 3).
OW 18 Override
This parameter allows the positioning speed to be changed without changing the Speed
Reference Setting (OL
10). Set the speed as a percentage of the Speed Reference
Setting. This setting can be changed during operation.
Setting range: 0 to 32767 (0% to 327.67%) Setting unit: 1 = 0.01%
Example: Setting for 50%: 5000
OL 1C
Position Reference
Setting
Set the target position for positioning. This setting can be changed during operation.
The meaning of the setting depends on the status of the Position Reference Type bit
(OW
09, bit 5).
OL 1E
Width of Positioning
Completion
Set the width in which to turn ON the Positioning Completed bit (IW 0C, bit 1).
OL 20
NEAR Signal Output
Width
Set the range in which the NEAR Position bit (IW 0C, bit 3) will turn ON. The
NEAR Position bit will turn ON when the absolute value of the difference between the
reference position and the feedback position is less than the value set here.
OL 36
Straight Line
Acceleration/
Acceleration Time
Constant
Set the rate of acceleration or acceleration time constant for positioning.
OL 38
Straight Line
Deceleration/
Deceleration Time
Constant
Set the rate of deceleration or deceleration time constant for positioning.
OW 3A Filter Time Constant
Set the acceleration/deceleration filter time constant. Exponential acceleration/decelera-
tion or a moving average filter can be selected in the Function Setting 1 bit (OW
03,
bits 8 to B).
Change the setting only after pulse distribution has been completed for the command
(IW
0C, bit 0 is ON).