Yaskawa MP920 Motion Module User Manual
Page 215
5.4 SVA-01A and SVA-02A Parameters
5-73
5
19
Position Refer-
ence Setting
(XREF) or
Position Buffer
Number
OL12
-2
31
to 2
31
-1
Set the position reference. The meaning of the setting
data depends on OB01C: Position Reference Selec-
tion and OB01E: Position Reference Type.
Explanation
Using OL12 as Position Reference for Absolute
Position Reference Method
OB1C = 0: Directly specified
OB1E = 0: Absolute position reference
Using OL12 as Position Reference for Add Dif-
ference Method
OB1C = 0: Directly specified
OB1E = 1: Add difference
Using OL12 as Position Reference for Add Dif-
ference Method
OB1C = 1: Indirectly specified
OB1E = 0: Absolute position reference
Setting 1 causes setting parameter error.
Refer to Position Reference of 2.3.1 Prerequisites for
Position Control.
0
21
Filter Time
Constant Set-
ting (NNUM)
OW14
1. Average
move filter 0
to 255
(0 = 1 = no
filter)
2. Exponential
acceleration
speed
0 to 32767
Set this parameter when performing simple S-curved
acceleration/deceleration in speed reference output or
position control mode.
Speed Reference Output Mode
Calculates the average move for the speed reference
(Vr) and makes that value the speed reference.
Position Control Mode
Calculates the average move for the clear pulse (p)
every scan and makes that value the position reference.
Averaging will not be calculated in the following situa-
tions.
• When switching during operation to Speed or Position
Control Mode
• When the average number is changed during opera-
tion
OW20: Motion Command Code Used in Posi-
tion Control Mode
The setting range for the filter time constant will vary
with bit 4 to bit 7 of OW21: Filter Type Selection.
• Filter type 1 = Exponential filter 0 to 32767
• Filter type 2 = Average move filter 0 to 255
Note: This parameter will be valid when IB152:
Distribution Completed turns ON if the filter
time constant is changed.
0
Table 5.6 Motion Setting Parameters (cont’d)
No.
Name
Register
Number
Setting Range/
Bit Name
Description
Factory
Setting