Yaskawa MP940 Reference Manual - Manual (Page 232)

Parameter Details MotionSuite™ MP940 Machine Controller Reference Manual
6-32
22 Speed Reference OWC015 -32768 ~
32767 During Speed Reference Output Mode
Sets the speed reference in units of
0.01%.
During Position Control Mode, sets the
speed reference in units of 0.01% in the
normal status.
When motion commands have been used
in the position control mode, sets the feed
speed in units of 0.01% (ratio of rated
speed) when speed reference selection
(OBC001D) is set to 1.
During Phase Control, sets the base
speed reference in units of 0.01%.
D/A output = (Speed Reference
(OWC015) ~ D/A Output Voltage Setting
(Fixed Parameter 9) at 100% speed)/
10000.
Example: (10000 ~ 6V)/10000 = 6.0V is
output if the D/A Output Voltage setting =
6V, and the Speed Reference = 100% at
100% speed. 0
23 Phase
Compensation OLC016
-2 31 ~ 2
31-1 Set the number of compensation pulses in
single pulse units in the phase control
mode.
Used when compensating reference
pulses in control systems without taking
rigidity and gain into account. 0
25 Speed
Compensation
Setting
(NLIM) OWC018 -32768 ~
32767 Set the speed compensation in units of
0.01% in the phase control mode. The
speed compensation (OWC018) is
enabled even in position control mode
when speed compensation enablement
(bit 10 of OWC018) is ON during position
control. 0
26 Proportional
Gain OWC019 0 ~ 32767 Set the PI control proportional gain in
units of 0.1 when in phase control mode. 300
(30.0)
27 Integral Time OWC01A 0 ~ 32767 Set the PI control integral time in units of
1ms in the phase control mode.
The integral is reset if 0 is set as the inte-
gral time. 300
(300ms)
Other Command/Mode Settings (Continued)
Number Name
Register
Number
Setting Range Content
Default
Value