Yaskawa MP920 Motion Module - Manual (Page 271)

6 SVB Module Specifications and Handling
6.2.2 Motion Setting Parameters
6-36
54 Servo Driver
Cn Constant
No. (Cn_No.),
Current Servo
Driver Alarm
Monitor No., or
Servo Driver
Alarm History
Monitor No. OL††35 − This parameter can be used in the following three ways.
„ Servo Driver Cn Constant No. (Cn_No.):
Valid when Motion Command Code (OW††20) is
set to 17 (CN_RD) or 18 (CN_WR).
Bits 0 to 11: Cn constant No.
Bits 12 to 15: Number of words
„ Current Servo Driver Alarm Monitor No.:
Valid when Motion Command Code (OW††20) is
set to 19 (ALM_MON). Specify a number between 0
and 5. The alarm code corresponding to the specified
monitor number is stored in IW††24.
„ Servo Driver Alarm History Monitor No.:
Valid when Motion Command Code (OW††20) is
set to 20 (ALMHIST_MON). Specify a number
between 0 and 9. The alarm code corresponding to the
specified monitor number is stored in IW††24.
0
55 Cn Constant
Change Data
(Cn-DAT) OL††36
-2
31
to 2
31
-1
Valid when Motion Command Code (OW††20) is set to
18 (CN_WR). 0
57 Lower-place
Two Words of
Encoder
Position at
Shutdown or
Position Buffer
Access Num-
ber OL††38
-2
31
to 2
31
-1
This parameter is used in the following two ways and
should be used with care.
„ Lower-place 2 Words of Encoder Position at Shut-
down
This parameter is valid when the motion fixed parame-
ter: Encoder Selection is set to absolute encoder (= 1)
and motion fixed parameter: Axis Selection (bit 5 of
the Motion Controller Function Selection Flags) is set
to an infinite length axis (= 1).
When bit 2 of OW††2D: ABS System Infinite
Length Position Control Data Load Request turns ON,
the data set at this parameter will be treated as the
lower-place two words of the encoder position at shut-
down.
„ Position Buffer Access Number
When bit 14 of OW††21: Position Buffer Write or
bit 15 of OW††21: Position Buffer Read turns ON,
the data set at this parameter will be treated as the
buffer number of the position buffer. The setting range
for this parameter is 1 to 256 and it is not valid if set to
“0.”
0
Table 6.3 Motion Setting Parameters (cont’d)
No. Name Register
Number
Setting Range/
Bit Name
Description Factory
Setting