Yaskawa MP920 Motion Module User Manual
Page 217
5.4 SVA-01A and SVA-02A Parameters
5-75
5
29
Speed Limit
Setting (NLIM)
OW1C
-32768 to 32767
Set the speed limit in 0.01% units in Torque Reference
Output Mode.
D/A output = (OW16: Speed Limit 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 Limit = 150%, then (15000
× 6 V) / 10000 =
9.0 V is output.
Note: Valid only for SVA-02A (2-axis) Module.
150.00
30
Not used.
OW1D
Set to “0.”
0
31
Pulse Bias
Setting
(PULBIAS)
OL1E
-2
31
to 2
31
-1
Used in Position Control Mode.
Position Control Mode
Set the number of compensation pulses. (1-pulse units)
OW20: Motion Command Code Used in Posi-
tion Control Mode
Set in 1-pulse units when compensating reference
pulses such as with backlash compensation. Compen-
sation will not be performed however if IB170:
Machine Lock is ON.
0
33
Motion Com-
mand Code
(MCMDCODE)
OW20
0 to 65535
Set the motion command code for the SVA Module. This
parameter can be used under the following conditions.
• Motion Command Selection Used
(bit 7 of fixed parameter no. 14)
• Position Control Mode Selection (OB002)
• RUN Mode Motion Setting Command Enabled
(OB008)
Motion Commands
0: NOP (no operation)
1: Positioning (POSING)
2: External positioning (EX-POSING)
3: Zero point return (ZRET)
4: Interpolation (INTERPOLATE)
5: Reserved for system use
6: Interpolation with position detection (LATCH)
7: Feed (FEED)
8: Step (STEP)
9: Zero point setting (ZSET)
0
Table 5.6 Motion Setting Parameters (cont’d)
No.
Name
Register
Number
Setting Range/
Bit Name
Description
Factory
Setting