Yaskawa MotionWorks+ Windows Software User Manual
Page 27
MotionWorks+™
The Project Explorer
21
MP940
When the MP940 module is selected, the following properties appear in the properties
window.
Note: When right clicking on this module, the properties can be sent to the controller,
but only to RAM. Compile & Download is required to retain values after power cycle.
Battery Test:
If enabled, the controller tests the battery voltage and sets the
battery alarm LED on the front of the controller accordingly,
and sets mAlarm_Battery.
If disabled, the battery alarm LED does not light.
Encoder Resolution:
Set the quadrature number of encoder pulses per motor revolu-
tion.
Encoder Type:
Select either “incremental” or “absolute”. This setting deter-
mines whether the MP940 automatically reads the absolute
encoder at power up.
Feed Constant:
The number in user units that the load travels for each revolu-
tion of the final output shaft of the mechanical system.
Gear Box Input: If a mechanical gear box is used, enter the value which corre-
Property
Default
Minimum
Maximum
Detail
Battery Test
Disabled
Enabled
Disabled
Setting
Encoder Resolution
8192
8
2147483647 Counts
Encoder Type
Incremental
Absolute
Incremental
Selection
Feed Constant
1
0.001
8338608 Constant
Gear Box Input
1
1
32767 Numerator
Gear Box Output
1
1
32767 Denominator
High Scan Setting
1
1
32 ms
Load Type
Linear
Linear
Rotary
Setting
Low Scan Setting
20
10
100 ms
Machine Cycle
1
0.001
2147483647 Modulus
Motor Rated Speed
3000
1000
10000 rpm
User Units
Inch
N/A
N/A
—
Final Output Shaft
Detail
Feed Constant
Ball screw
6mm pitch
6
Conveyor belt
roller = 4in diameter
4 x
π
Belt and pulley
last pulley = 10in diameter
10 x
π