Yaskawa MP2000 Series: Built-in SVB or SVB-01 Motion Modul Manual de usuario descargar pdf (Pagina 86)

4.3 Motion Parameter Lists

4.3.2 Setting Parameter List

4-10

OW08

Motion Command

0: NOP (No Command)

1: POSING (Position Mode) (Positioning)

2: EX_POSING (Latch Target Positioning)

　(External positioning)

3: ZRET (Zero Point Return)

4: INTERPOLATE (Interpolation)

5: ENDOF_INTERPOLATE (Last Interpolation Segment)

(Reserved for the system)

6: LATCH (Interpolation Mode with Latch Input)

7: FEED (Jog Mode)

8: STEP (Relative Position Mode) (Step mode)

9: ZSET (Set Zero Point)

10: ACC (Change Acceleration Time)

11: DCC (Change Deceleration Time)

12: SCC (Change Filter Time Constant)

13: CHG_FILTER (Change Filter Type)

14: KVS (Change Speed Loop Gain)

15: KPS (Change Position Loop Gain)

16: KFS (Change Feed-forward)

17: PRM_RD (Read User Constant)

(Read SERVOPACK parameter)

18: PRM_WR (Write User Constant

(Write SERVOPACK parameter)

19: ALM_MON (Alarm Monitor)

20: ALM_HIST (Alarm History Monitor)

21: ALMHIST_CLR (Clear Alarm History)

22: ABS_RST (Absolute Encoder Reset)

23: VELO (Speed Reference)

24: TRQ (Torque/Thrust Reference)

25: PHASE (Phase Reference)

26: KIS (Change Position Loop Integral Time Constant)

27: PPRM_WR (Stored Parameter Write)

39: MLTTRN_SET (Multiturn Limit Setting)

Yes Yes 4.4.2 ( 7 )

OW09

Motion Command

Control Flag

Bit 0: Holds a Command (0: OFF/1: ON)

Yes Yes

4.4.2 ( 8 )

Bit 1: Interrupt a Command (0: OFF/1: ON)

Yes Yes

Bit 2: Moving Direction (JOG/STEP) (0: Forward rotation/1:

Reverse rotation)

Yes Yes

Bit 3: Zero point Direction Selection (0: Reverse rotation/1: For-

ward rotation)

Yes −

Bit 4: Latch Zone Effective Selection (0: Disabled/1: Enabled)

Yes −

Bit 5: Position Reference Type

(0: Incremental Value Add Method/1: Absolute Value Set

Method)

Yes Yes

Bit 6: Phase Compensation Type

(0: Incremental Value Add Method/1: Absolute Value Set

Method)

Yes −

Bits 7 to F: Reserved for system use.

−−

OW0A

Motion Subcommand

0: NOP (No command)

Yes Yes

4.4.2 ( 9 )

1: PRM_RD (Read User Constant) (Read SERVOPACK

parameter)

2: PRM_WR (User Constant) (Write SERVOPACK parameter)

3: Reserved

4: SMON (Status monitor)

Yes −

5: FIXPRM_RD (Read Fixed Parameters)

Yes Yes

OW0B

−

Reserved for system use.

−− −

* These commands are move commands.

(cont’d)

1 2 ... 81 82 83 84 85 86 87 88 89 90 91 ... 139 140

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Yaskawa MP2000 Series: Built-in SVB or SVB-01 Motion Modul Manual de usuario Pagina 86

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