Yaskawa MP940 Reference Manual - Manual (Page 507)

MotionSuite™ MP940 Machine Controller Reference Manual Parameters
A-20
Motion Setup Parameters
The setup parameters are used as commands to the motion module. They
are transferred as a group to the motion module at the start of high-speed
scanning. Motion control can be executed simply by setting the
parameters into this register area.
Table 8: Setup Parameters
No. Name
Register
Number
Setting Range
(Bit Name)
Meaning
1 Run Mode OWC000 Bit 0: NCON Speed Reference Output Mode
Bit 1: TCON Torque Reference Output Mode
Bit 2: PCON Position Control Mode
Bit 3: PHCON Phase Control Mode
Bit 4: ZRN Zero-point Return Mode*
Bit 5: PHTEST Phase Control Test Signal
Bit 6: ACR Alarm Clear
Bit 7: PHREFOFF Disable Phase Reference Generation
Operation
Bit 8: MCDSEL 0: Motion Command Code (OWC020)
disabled
1: Motion Command Code (OWC020)
enabled
Bit 9: ZRNDIR Zero Point Return Direction
0: Negative (decreasing)
1: Positive (increasing)
Bit 10: ABSRD Absolute Position Readout Request
Bits 11~12: Unused
Bit 13: DIINTREQ DI Latch Detection Request
Bit 14: Unused
Bit 15: IRESET Phase Control Integral Reset