Yaskawa MP940 Reference Manual User Manual
Page 510
MotionSuite™ MP940 Machine Controller Reference Manual
Parameters
A-23
21
S-curve
Acceleration
Time
OWC014
The S-curve time constant is 0~255 (1 = 1 turn) (0 = 1 = no aver-
aging) when the speed reference output mode and motion com-
mands are disabled in the position control mode.
The S-curve time constant is 0~255 (1 = 1 turn) (0 = 1 = no aver-
aging) and SVB is 0~65535 (1 = 0.1ms) when bits 4~7 of
OWC021 are “2”.
The exponent accel/decel time constant is 0~32767 (1 = 1ms)
and SVB is 0~65535 (1 = 0.1ms) when bits 4~7 of OWC021 are
“1”.
22
Speed
Reference
OWC015
-32768~32767
(default = 0)
1 = 0.01% (5000 = 50.00%)
23
Phase
Compensation
OLC016
-2
31
~2
31-1
(default = 0)
1 = 1pulse
25
Speed
Compensation
OWC018
-32768~32767
(default = 0)
1 = 0.01% (100 = 1.00%)
26
Proportional Gain OWC019
0~32767
(default = 300)
1 = 0.1% (300 = 30.0%)
27
Integral Time
OWC01A
0~32767
(default = 300)
1 = 1ms (0 = no integral) (300 = 0.300s)
28
Torque
Reference
OWC01B
-32768~32767
(default = 0)
1 = 0.01% (10000 = 100.00%)
29
Speed Limit
OWC01C
-32768~32767
(default = 15000)
1 = 0.01%
(15000 = 150.00%)
31
Pulse
Compensation
OLC01E
-2
31
~2
31-1
(default = 0)
1 = 1 pulse
33
Motion
Command Code
OWC020
0~65535
(default = 0)
0: NOP
No command
1: POSING
Positioning
2: EX_POSING
External
Positioning
3: ZRET
Zero-point return
4: FINTERPOLATE Interpolation
5: ENDOF_
INTERPOLATE
Interpolation Final
Segment
6: LATCH
Interpolation with
Position Detection
Function
7: FEED
Set Speed Feed
8: STEP
Stepping
9: ZSET
Zero-point Setting
10~65535: Unused
Table 8: Setup Parameters (Continued)
No.
Name
Register
Number
Setting Range
(Bit Name)
Meaning