Yaskawa JAPMC-MC2300 - Manual (Page 151)

7.2 Motion Command Details
7.2.2 External Positioning (EX_POSING)
7-11
7
Motion Commands
( 4 ) Related Parameters
[ a ] Setting Parameters
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 2.
OW 03 Function Setting 1 Set the speed unit, acceleration/deceleration unit, and filter type.
OW 04 Function Setting 2
Set the external positioning signal.
0: EXT (DI_5), 1: ZERO (DI_2), 2: Phase-C pulse signal
OW 08 Motion Command
The positioning starts when this parameter is set to 2.
The operation will be canceled if this parameter is set to 0 during EX_POSING com-
mand execution.
OW 09
Bit 0
Holds A Command
The axis will decelerate to a stop if this bit is set to 1 during execution of EX_POSING
command execution.
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 EX_POSING command
execution.
OW 09
Bit 4
Latch Zone Effective
Selection
Enable or disable the area where the external positioning signal is valid.
If the latch zone is enabled, the external positioning signal will be ignored if it is input
outside of the latch zone.
0: Disable, 1: Enable
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 2.
OL 10
Speed Reference
Setting
Specify the speed for the positioning.
This setting can be changed during operation. The unit depends on the Function Set-
ting 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%
OL 1C
Position Reference Set-
ting
Set the target position for positioning.
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 2A Latch Zone Lower Limit
Set the boundary in the negative direction of the area in which the external positioning
signal is to be valid.
OL 2C Latch Zone Upper Limit
Set the boundary in the positive direction of the area in which the external positioning
signal is to be valid.
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/decel-
eration or a moving average filter can be selected in 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).
OL 46
External Positioning
Final Travel Distance
Set the moving amount after the external positioning signal is input.