Run mode setting (runmod) (continued) – Yaskawa MP940 Reference Manual User Manual

Page 220

Parameter Details

MotionSuite™ MP940 Machine Controller Reference Manual

6-20

Bit 7
(contin-
ued)

Phase Control Loop (Electronic Shaft)

∗1.Integrates the base speed reference, and calculates the matching position (pulse).
∗2.Generates the speed reference from the deviation e between the target position (CPOS) and the current

position (APOS).This becomes the position (phase) compensation.

∗3.If phases are to be displaced, add the amount of displacement (convert the angle of rotation of the motor axis

into number of pulses) as the phase compensation setting.

Electronic Cam Control Loop

The electronic cam control loop cuts the integral circuit of the base speed reference, and sends the position

reference according to the phase compensation setting.

Bit 8

Motion Command Mode
Enabled/Disabled
(MCDSEL)

Selects whether a motion command code
(OWC020) is used or not.
0: Disabled; 1: Enabled
Enabled only when the motion command usage
selection (fixed parameter, No. 14, bit 7) is Used (=
1).

Bit 9

Zero-point Return Direc-
tion Selection (ZRNDIR)

Designates the zero-point return direction.
0:Reverse Direction (Position pulse decreases)
1: Forward Direction (Position pulse increases)

Bit 10

Absolute Position Readout
Request (ABSRD)

When this bit is turned ON, absolute position data is
read out from the absolute encoder.The absolute
position readout completion signal (Bit 10
ofIWC000) is ON upon completion of readout.
This is used when servo drive power is turned ON
while the MP940 is in a power ON state.

Bit 11

Unused

Set 0

Bit 12

Unused

Set 0

RUN Mode Setting (RUNMOD) (Continued)

Speed

Control

OWCO15

D/A

Integral

Counter

OLCO16

NREF

PHBIAS

Servo Driver

CPOS
ILxx02

APOS

ILxx08

to other

machine

Base Speed

Reference Setting

Phase

Compensation

Setting

SVA Module

CPU Module

∗2

∗1

∗3