Yaskawa MP920 Motion Module - Manual (Page 222)

5 SVA Module Specifications and Handling
5.4.2 Motion Setting Parameters
5-80
52 Zero Point Po-
sition Output
Width
(PSETWIDTH) OW††33 0 to 65535 Used when an OW††20: Motion Command Code is
used in Position Control Mode.
Set the zero point position range. IB††171: Zero Point
Position will turn ON if 0
≤ |IL††18: Reference Posi-
tion in Machine Coordinate System| ≤ Zero Point Posi-
tion Output Width when IB††156: Zero Point Return
Completed Status turns ON.
10
53 Positioning
Completed
Check Time
(PSETTIME) OW††34 0 to 65535 Used when OW††20: Motion Command Code is used
in Position Control Mode.
Set limits for detecting bit 6 of IL††22: Positioning
Time Over in 1 = 1 ms. A positioning time over alarm
will be generated if bit 13 of IW††00: Positioning Time
Completed Signal does not turn ON when this range is
exceeded after bit 2 of IW††15: Distribution Com-
pleted turns ON.
The completion of positioning will not be checked if this
parameter is set to “0.” 0
54 Position Con-
trol Integral
Time (PTi) OW††35 0 to 32767 Used in Position Control Mode or Zero Point Return
Mode.
Set integral time in 1 = 1 ms when using position loop
and PI control (see bit 8 of OW††21). Integration will
not be performed if this parameter is set to “0.” 300
55 Upper/lower
Limit for Posi-
tion Control In-
tegration
(ILIMIT) OW††36 0 to 32767 Used in Position Control Mode or Zero Point Return
Mode.
Set the upper and lower integration limits when using
position loop and PI control (Refer to bit 8 of
OW††21). Integral output will be limited within the
range set here when the integral output value exceeds this
range. 32767
56 Primary Lag
Time Constant
(LAGTI) OW††37 0 to 32767 Used in Position Control Mode or Zero Point Return
Mode.
Set the primary lag time constant in the position loop in 1
= 1 ms. The primary lag will not be calculated if this
parameter is set to “0.” 0
Table 5.6 Motion Setting Parameters (cont’d)
No. Name Register
Number
Setting Range/
Bit Name
Description Factory
Setting