Yaskawa MP920 Motion Module - Manual (Page 130)

4 Parameters
4.2.2 Motion Setting Parameters
4-10
4.2.2 Motion Setting Parameters
Motion setting parameters serve as instructions to Motion Modules. They are located at the
top of high-speed scans and are sent together to Motion Modules. Motion can be controlled
simply by setting parameters in these registers.
Table 4.3 Motion Setting Parameters
No. Name Register
Number
Setting Range/
Bit Name
Meaning Remarks SVA
-01A
SVA
-02 A
SVB
-01
PO-
01
1 RUN Mode
Settings
(RUNMODE) OW††00 Bit 0: NCON Speed Reference Output
Mode 0: OFF, 1:ON √ √ − −
Bit 1: TCON Torque Reference Output
Mode 0: OFF, 1:ON − √ − −
Bit 2: PCON Position Control Mode 0: OFF, 1:ON √ √ √ √
Bit 3: PHCON Phase Control Mode 0: OFF, 1:ON √ √ − −
Bit 4: ZRN Zero Point Return Mode 0: OFF, 1:ON √ √ − −
Bit 5: PHTEST Phase Control Test
Signal 0: OFF, 1:ON √ √ − −
Bit 6: ACR Alarm Clear 0: OFF, 1:ON √ √ √ √
Bit 7: PHREFOFF Phase Reference Disable 0: OFF, 1:ON √ √ − −
Bit 8: MCDSEL Motion Command Mode
Selection 0: OFF, 1:ON √ √ √ √
Bit 9: ZRNDIR Zero Point Return
Direction Selection 0: OFF, 1:ON √ √ √ √
Bit 10: ABSRD Absolute Position Read
Request 0: OFF, 1:ON √ √ − −
Bit 11 Feed Forward Gain at
Switching Control Mode 0: OFF, 1:ON √ √ − −
Bit 12 Not used. − − − −
Bit 13: DIINTREQ DI Latch Request 0: OFF, 1:ON √ √ − −
Bit 14 Not used. − − − −
Bit 15: IRESET Phase Control
Integration Reset 0: OFF, 1:ON √ √ − −
2 RUN Command
Settings
(SVRUNCMD) OW††01 Bit 0: RUN Servo ON (DO0) 0: OFF, 1: ON √ √ √
Excitation ON (DO0) 0: OFF, 1: ON − − − √
Bit 1: DO1 DO1 0: OFF, 1: ON √ √ − √
Bit 2: DO2 DO2 0: OFF, 1: ON √ √ − √
Bit 3: DO3 DO3 0: OFF, 1: ON √ √ − √
Bit 4: DO4 ROC 0: OFF, 1: ON √ − − −
DO4 0: OFF, 1: ON − √ − −
Bit 5 Not used. − − − −
Bits 6 to 10 Not used. − − − −