Yaskawa MP2000 Series: Built-in SVB or SVB-01 Motion Module - Manual (Page 221)

6.2 Motion Command Details
6.2.12 Change Filter Type (CHG_FILTER)
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6.2.12 Change Filter Type (CHG_FILTER)
The CHG_FILTER command enables the current setting of the Filter Type Selection (motion setting parameter
OW
03, bits 8 to B) for execution of the following motion commands with the movement: POSING, EX_POSING,
ZRET, INTERPOLATE, LATCH, FEED, and STEP.
Always execute the CHG_FILTER command after changing the setting of OW 03, bits 8 to B. If this is not exe-
cuted, the change in the Filter Type setting will not be validated.
( 1 ) Executing/Operating Procedure
1.
Check to see if all the following conditions are satisfied.
2. Set OW 08 to 13 to execute the CHG_FILTER motion command.
The Filter Type Selection (motion setting parameter OW 03 Bit8 to B) will be enabled.
IW 08 will be 13 during command execution.
IW 09, bit 0 will turn ON during the command processing and will turn OFF when the command processing
has been completed.
3.
Set OW 08 to 0 to execute the NOP motion command and then complete the change of the filter
type.
( 2 ) Holding and Aborting
The Holds a Command bit (OW 09, bit 0) and the Interrupt a Command bit (OW 09, bit 1) cannot be used.
( 3 ) Related Parameters
[ a ] Setting Parameters
[ b ] Monitoring Parameters
No. Execution Conditions Confirmation Method
1 There are no alarms. Both IL 02 and IL 04 are 0.
2 Pulse distribution has been completed for the SERVOPACK. IW 0C, bit 0 is ON.
3 Motion command execution has been completed. IW 08 is 0 and IW 09, bit 0 is OFF.
Parameter Name Setting
OW 03 Function Setting 1 Set the speed unit, acceleration/deceleration units, and filter type.
OW 08 Motion Command The filter type is changed when this parameter is set to 13.
OW 09
Bit 0
Holds a Command This parameter is ignored for CHG_FILTER command.
OW 09
Bit 1
Interrupt a Command This parameter is ignored for CHG_FILTER command.
Parameter Name Monitor Contents
IL 02 Warning Stores the most current warning.
IL 04 Alarm Stores the most current alarm.
IW 08
Motion Command
Response Code Indicates the motion command that is being executed.
The response code will be 13 during CHG_FILTER command execution.
IW 09
Bit 0
Command Execution
Flag Turns ON during CHG_FILTER command execution and turns OFF when execution
has been completed.
IW 09
Bit 1
Command Hold
Completed
Always OFF for CHG_FILTER command.
IW 09
Bit 3
Command Error
Completed Status Turns ON if an error occurs during CHG_FILTER command execution. Turns OFF
when another command is executed.
IW 09
Bit 8
Command Execution
Completed
Turns ON when CHG_FILTER command execution has been completed.