Yaskawa MP920 Motion Module - Manual (Page 264)

6.2 SVB-01 Parameters
6-29
6
Table 6.3 Motion Setting Parameters (cont’d)
No. Name Register
Number
Setting Range/
Bit Name
Description Factory
Setting
15 to
16
Not used. OW††0D to
OW††0F − Set to “0.” 0
17 Position Loop
Gain Setting
(Kp) OW††10 1 to 5000 Set the position loop gain in the servo system.
Position loop gain is needed to set response performance
for the servo system.
This parameter is valid when the motion command KPS
is executed.
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
19 Position Refer-
ence Setting
(XREF) or
Position Buffer
Number OL††12
-2 31 to 2 31 -1
Set the position reference. The meaning of the setting
data depends on OB††01C: Position Reference Selec-
tion and OB††01E: Position Reference Type.
Explanation
1. Using OL††12 as Position Reference for Absolute
Position Reference Method
OB††1C = 0: Directly specified
OB††1E = 0: Absolute position reference
2. Using OL††12 as Position Reference for Incremen-
tal Addition Method
OB††1C = 0: Directly specified
OB††1E = 1: Incremental Addition
3. Using OL††12 as Position Buffer Pointer
OB††1C = 1: Indirectly specified
OB††1E = 0: Absolute position reference
Setting 1 causes setting parameter error.
Refer to Position Reference in 2.3.1 Prerequisites for
Position Control for details.
0
40 to 250
Excellent response
(Watch for hunting.)
Ordinary response
The machine may start to vibrate if the
setting is too high.