Yaskawa MP920 Motion Module - Manual (Page 216)

5 SVA Module Specifications and Handling
5.4.2 Motion Setting Parameters
5-74
22 Speed Refer-
ence Setting
(NREF) OW††15 -32768 to 32767 „ Speed Reference Output Mode
Set the speed reference in 0.01% units.
„ Position Control Mode
Set the speed reference in a steady state in 0.01% units.
„ OW††20: Motion Command Code Used in Position
Control Mode
Set the rapid traverse speed in 0.01% units (percentage
of the rated motor speed) when the Speed Reference
Selection (OB††1D) is set to 1.
„ Phase Control Mode
Set the standard speed reference in 0.01% units.
D/A output = (OW††15: Speed Reference Setting
× D/
A Output Voltage at 100% Speed (fixed parameter 9)) /
10000
Example:
When the D/A Output Voltage at 100% speed = 6 V and
the speed reference = 100%, then (10000
× 6 V) / 10000
= 6.0 V is output.
0.00
23 Phase Bias
Setting
(PHBIAS) OL††16
-2 31 to 2 31 -1
Set the number of compensation pulses in Phase Control
Mode. Use this parameter to compensate for reference
pulses in control systems with no rigidity or gain. 0
25 Speed
Compensation
Setting
(NCOM) OW††18 -32768 to 32767 Set the speed compensation in 0.01% units in Phase Con-
trol Mode. OW††18: Speed Compensation Setting is
valid even in Phase Control Mode if bit 10 of OW††21:
Speed Compensation during Position Control is ON. 0
26 Proportional
Gain Setting
(PGAIN) OW††19 0 to 32767 Set proportional gain for PI control in 0.1 units in Phase
Control Mode. 30.0
27 Integral Time
Setting (Ti) OW††1A 0 to 32767 Set the integral time for PI control in 1 ms units in Phase
Control Mode. Integration will be reset if the integral
time is set to 0. 300
(300 ms)
28 Torque Refer-
ence Setting
(TREF) OW††1B -32768 to 32767 Set the torque reference in 0.01% units in Torque Refer-
ence Output Mode.
D/A output = (OW††1B: Torque Reference
× D/A Out-
put Voltage at 100% Torque Limit (fixed parameter 10)) /
10000
Example:
When the D/A Output Voltage at 100% Torque Limit = 3
V and the torque reference = 50%, then (5000
× 3 V) /
10000 = 1.5 V is output.
Note: Valid only for SVA-02A (2-axis) Module.
0.00
Table 5.6 Motion Setting Parameters (cont’d)
No. Name Register
Number
Setting Range/
Bit Name
Description Factory
Setting