Yaskawa MP920 Motion Module - Manual (Page 300)

6.2 SVB-01 Parameters
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„ Parameters Motion Programs Can Write
The following SERVOPACK parameters can be written from a motion program. (SERVO-
PACK parameters are simultaneously written whenever setting parameters are written from
a motion program).
„ Parameters SVB-01 Motion Commands Can Write
Motion commands can be used for the following parameters to write settings on the Control-
ler to the SERVOPACK.
The following procedure must be used to change parameters.
• Example showing the procedure for writing position loop gain from a motion program.
Parameter Name Motion Program
Format
MP920 Σ Series
SERVOPACK
Σ-II Series
SERVOPACK
2nd Step Linear Acceler-
ation Time Constant ACC[X]6000; → OW††0C Cn-0020 Pn80B
Average Move Time SCC[X]6000; → OW††14 Cn-0026 Pn812
2nd step Linear Deceler-
ation Time Constant DCC[X] → OW††0D − Pn80E
Parameter Name Controller Σ Series
SERVOPACK
Σ-II Series
SERVOPACK
Exponential Acceleration
Time Constant OW††14 Cn-002E Pn811
Speed Loop Gain OW††1D Cn-0004 Pn100
Position Loop Gain OW††10 Cn-001A Pn102
Feed Forward
Compensation OW††11 Cn-001D Pn109
WHILE OWxx20 <> 0; Check to see if the motion command OW††20 is set to 0 (NOP).
EOX; 1-scan WAIT command
WEND;
OWxx10=200; Position loop gain: Stores the value at OW††10.
OWxx20=15; Set the motion command OW††20 to 15 (KPS command).
WHILE IWxx14 <>15; Waits until the command response is 15 (KPS command).
EOX;
WEND;
OWxx20=0; Set the motion command OW††20 to 0 (NOP).