Yaskawa MP900 - Manual (Page 13)

MP920 QRG Rev1.5
Reference Units (User Units)
FP7: Rated Speed [RPM]
(Default 3000)
OLC022: Speed Reference (when
OBC001D=0
) [10^
n
RU
/min] (Default 3000)
OLC015: Speed Reference (when OBC001D=1) [0.01% of Rated Speed (FP7)] (Default 0) OLC012: Position Reference [
RU
]
OBC001E: Incremental / Absolute or OLC028: Step Distance [
RU
]
OBC0212: Step Direction
OWC00C: Acceleration [ms to Rated Speed (FP7)]
(Default 0)
Servopack Pn80B: Acceleration Rate [10,000
RU
/sec^2]
(Default 65535)
OWC00D: Deceleration [ms to Rated Speed (FP7)]
(Default 0)
Servopack Pn80E: Deceleration Rate [10,000
RU
/sec^2]
(Default 65535)
OWC00C=0 & OWC00D =0 sets servopack acceleration/deceleration rate to 65535[10,000 RU/sec^2]
n = 3
when
FP17 bit 4 =0 (RU not used)
n = FP18 when
FP17 bit 4 =1 (RU is used)
KEY * RU = "reference unit" = "user unit" = "command unit" * FP = Fixed Parameter * MCC = Motion Command Code (OWxx20) * Register Values given for Circuit#1, Axis#/1 *
Bold type
represents default setting
RU
= FP17 bits0-3
0: Pulse (post quad) 1: mm 2: deg 3: inch
If PULSE is not chosen as the RU, use the following parameters to define the relationship between PULSE and RU. FP8: Encoder Pulses (pre-quad) per motor rev FP21: Motor Revs into gearbox FP22: Machine Shaft Revs out of gearbox FP19: RU per Machine Shaft Revolution
Motor
G.B.
8
21
22
19
NOTES: * Register Addresses assume Circuit#1, Axis#1 * Reference Units not compatible with Function Block programming. * Default Positioning units are [encoder pulses (post quad)] * Default Speed Reference units are [1000 pulses/min] * Default Accel/Decel units are [ms to rated motor rpm] * MPE720 5.31B "Units" in module configuration do not update * Motion Module Manual incorrectly lists MCC=11 and Decel (OLC00D) as not used
Use MCC=11 to change Deceleration
Use MCC=10 to change A
cceleration
Use of MCC to change Servopack Parameters
Applies to SVB ONLY and
NOT SVA
FP17 bit 4 =1 Activates RU Feature
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