Yaskawa MP920 Motion Module - Manual (Page 214)

5 SVA Module Specifications and Handling
5.4.2 Motion Setting Parameters
5-72
Table 5.6 Motion Setting Parameters (cont’d)
No. Name Register
Number
Setting Range/
Bit Name
Description Factory
Setting
15 Positioning
Completed
Range
Setting (PEXT) OW††0E 0 to 65535 Used in Position Control and Zero Point Return Modes.
Set the range before bit 13 of IW††00: Positioning
Completed Signal or bit 15 of IW††00: Zero Point
Return Completed Signal turns ON.
Unit: Reference unit
Refer to the explanation on bit 13 of IW††00. 10
16 Error Count
Alarm Detec-
tion Setting
(EOV) OW††0F 0 to 65535 Used in Position, Phase Control, and Zero Point Return
Modes.
Set the limit for outputting bit 0 of IW††00: Error
Counter Over. Outside this range, the Error Counter Over
will turn ON and this value will be used as the error count
in position control.
Error Counter Over will not be detected if this parameter
is set to “0.” 65535
17 Position Loop
Gain Setting
(Kp) OW††10 0 to 32767 Set the position loop gain in the servo system.
Position loop gain is needed to set response performance
for the servo system.
The following are setting guidelines.
Set an appropriate value for the machine rigidity, inertia,
and type of Servomotor.
• Setting range: 1 to 32767 [0.1/S]
300
(30.0)
18 Feed Forward
Gain Setting
(Kf) OW††11 0 to 200 Reduces positioning time by applying feed forward con-
trol.
• Setting range: 0 to 200 [%]
Reference position and actual position error decrease
with higher settings.
0
40 to 250
Excellent response
(Watch for hunting.)
Ordinary response
The machine may start to vibrate if the
setting is too high.