Yaskawa AC Drive - A1000 Motion Control Custom - Manual (Page 21)

5 Function Description
YASKAWA TM.A1000SW.117 Motion Control Custom Software Supplement 21
The position reference is scaled as follows: Commanded Position (in encoder counts) = Frequency Reference × P1-09.
Move velocity is determined by parameter d1-09, and accel and decel rates are determined by parameters C1-01 and C1-
02. For example:
If P1-09 = 4096 counts/unit, and the frequency reference over the option PCB is 15.00 Hz, this would result in a move
that is exactly 61440 encoder counts (4096 × 15.00 = 61440). The option frequency reference channel returns to normal
operation as an actual frequency reference when motion control is disabled.
1. The position reference is scaled as follows:
Commanded Position (in encoder counts) = Frequency Reference × P1-09
2. Move velocity is determined by parameter d1-09, and accel and decel rates are determined by parameters C1-01 and
C1-02.
For example: If P1-09 = 4096 counts/unit, and the frequency reference over the option PCB is 15.00 Hz, this would
result in a move that is exactly 61440 encoder counts (4096 × 15.00 = 61440).
When motion control is disabled, the option frequency reference channel returns to normal operation as an actual
frequency reference.
Table 15 Profile Selection Information
Distance
Select
D <1>
Distance
Select
C <1>
Distance
Select
B <1>
<1> Programmable using the digital input parameters H1-01 to H1-10.
<2> When P1-02=1, the actual commanded destination is calculated as follows:
Destination=Memobus register 6D0H × P1-09/100
<3> Actual destination (in encoder quadrature counts) is calculated as follows when b1-01= 3:
<4> When motion control is disabled, the Option PCB frequency reference register returns to its normal function.
Distance
Select
A <1>
Parameter
P1-02
Setting
Position Reference Source Accel/Decel
Parameters
Max Speed
Used
Open Open Open Open
0 Parameter P4-01
C1-01 and
C1-02
d1-09
1
Memobus Address
06D1h
100=1.00 Units <2>
Memobus
Address
06D0h
2
Option PCB Frequency
Reference Register <3> <4>
(in XXX.XX Units)
d1-09
3
Memobus Address
06D0h (low word) and
06D1h (high word)
In quadrature encoder counts.
Open Open Open Closed N/A P4-02 C1-03 & C1-04 d1-10
Open Open Closed Open N/A P4-03 C1-05 & C1-06 d1-11
Open Open Closed Closed N/A P4-04 C1-07 & C1-08 d1-12
Open Closed Open Open N/A P4-05 C1-01 & C1-02 d1-13
Open Closed Open Closed N/A P4-06 C1-03 & C1-04 d1-14
Open Closed Closed Open N/A P4-07 C1-05 & C1-06 d1-15
Open Closed Closed Closed N/A P4-08 C1-07 & C1-08 d1-16
Closed Open Open Open N/A P4-09 C1-01 & C1-02 d1-09
Closed Open Open Closed N/A P4-10 C1-03 & C1-04 d1-10
Closed Open Closed Open N/A P4-11 C1-05 & C1-06 d1-11
Closed Open Closed Closed N/A P4-12 C1-07 & C1-08 d1-12
Closed Closed Open Open N/A P4-13 C1-01 & C1-02 d1-13
Closed Closed Open Closed N/A P4-14 C1-03 & C1-04 d1-14
Closed Closed Closed Open N/A P4-15 C1-05 & C1-06 d1-15
Closed Closed Closed Closed N/A P4-16 C1-07 & C1-08 d1-16
Destination =
Frequency Reference (hi-speed rgister)
100
P1-10 X