Yaskawa MP920 Motion Module - Manual (Page 208)

5 SVA Module Specifications and Handling
5.4.2 Motion Setting Parameters
5-66
Table 5.6 Motion Setting Parameters (cont’d)
No. Name Register
Number
Setting Range/
Bit Name
Description Factory
Setting
2 RUN Com-
mand Settings
(SVRUNCMD)
(cont’d) Bits 5 to 11 Not used. Set to “0.” 0
Bit 12 Position Refer-
ence Value
Selection
(USE_BUF) Set the reference method that is used for position refer-
ence data. It is valid only when an OW††20: Motion
Command Code is used in Position Control Mode.
0: OL††12
Use OL††12 as directly as position reference data.
1: Position Buffer
Use OL††12 indirectly as the position buffer num-
ber.
• The position buffer is located in the SVA Module and
must be written in the initial drawing at startup.
• Refer to OB††21E, OB††21F, and OL††3A for
details on writing to the position buffer.
0
Bit 13 Speed Reference
Value Selection
(SPDTYPE) Set speed reference method for feed speed, approach
speed, and creep speed. It is valid only when an
OW††20: Motion Command Code is used in Position
Control Mode.
0: OL††22
Set speed in reference units and sets rapid traverse
speed at OL††22. The setting unit for OW††0A:
Approach Speed and OW††0B: Creep Speed are
also 1 = 10 reference units/min.
1: OW††15
Set speed using a percentage and sets rapid traverse
speed at OW††15. The setting unit for OW††0A:
Approach Speed and OW††0B: Creep Speed are
also 1 = 0.01%.
Refer to Speed reference of 2.3.1 Prerequisites for Posi-
tion Control.
0
OL 12
100
Directly
specified
Position buffer
Position reference data 1
Position reference data 100
2
256
Position reference
Position buffer pointer
Indirectly
specified