Yaskawa MP920 Motion Module - Manual (Page 132)

4 Parameters
4.2.2 Motion Setting Parameters
4-12
15 Positioning
Completed
Range Setting
(PEXT) OW††0E 0 to 65535
(Absolute value)
(Default = 10)
1 = 1 reference unit
1 = 1 pulses for pulse unit √ √ − −
16 Error Count
Alarm Detection
Setting
(EOV) OW††0F 0 to 65535 (Absolute
value)
(Default = 65535) 1 = 1 pulse
(0 = No error detection) √ √ − −
17 Position Loop
Gain Setting
(kp) OW††10 0 to 32767
(Default = 300) 1 = 0.1/s
(300 = 30.0) √ √ √ −
18 Feed Forward
Gain Setting
(kf) OW††11 0 to 200
(Default = 0) 1 = 1%
(10 = 10%) √ √ √ −
19 Position Refer-
ence Setting or
Position Buffer
Number
(XREF) OL††12
-2
31
to 2
31
-1
(Default = 0)
1 = 1 reference unit
1 = 1 pulses for pulse unit
Position reference value selection
When (OB††01C) = 1
Position buffer no. (1 to 256) √ √ √ √
21 Filter Time Con-
stant Setting
(NNUM) OW††14 1. Constant during Position Control Mode and S-curved (moving
average) movement with the Speed Reference Output Mode and
motion command disabled.
0 to 255 (1 = 1 time) (0 = 1 = No averaging)
√ √ − −
2. Constant during S-curved (moving average) movement when bits
4 to 7 at OW††21 are set to “2.”
0 to 255 (1 = 1 time) (0 = 1 = No averaging)
SVB Modules: 0 to 65535 (1 = 0.1 ms)
√ √ √ √
3. Constant during exponential acceleration/deceleration when bits 4
to 7 at OW††21 are set to “1.”
0 to 32767 (1 = 1 ms)
SVB Modules: 0 to 65535 (1 = 0.1 ms)
√ √ √ √
22 Speed Reference
Setting
(NREF) OW††15 -32768 to 32767
(Default = 0) 1 = 0.01%
(5000 = 50.00%) √ √ √ √
23 Phase Bias
Setting
(PHBIAS) OL††16 -2 31 to 2 31 -1
(Default = 0)
1 = 1 pulse √ √ − −
25 Speed Compen-
sation Setting
(NCOM) OW††18 -32768 to 32767
(Default = 0) 1 = 0.01%
(100 = 1.00%) √ √ − −
26 Proportional
Gain Setting
(Pv) OW††19 0 to 32767
(Default = 300) 1 = 0.1/s
(300 = 30.0) √ √ − −
27 Integral Time
Setting
(Ti) OW††1A 0 to 32767
(Default = 300)
1 = 1 ms (0 = No integration)
(300 = 0.300 s) √ √ − −
28 Torque Refer-
ence Setting
(TREF) OW††1B -32768 to 32767
(Default = 0)
1 = 0.01%
(10000 = 100.00%) − √ − −
Table 4.3 Motion Setting Parameters (cont’d)
No. Name Register
Number
Setting Range/
Bit Name
Meaning Remarks SVA
-01A
SVA
-02 A
SVB
-01
PO-
01