Yaskawa MP920 Motion Module - Manual (Page 33)

2.2 Control Modes
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2.2 Control Modes
This section describes the motion control modes that can be used by the MP920.
2.2.1 Overview of Control Modes
Five control modes are available for MP920 Motion Modules. These modes can be switched
in real time, according to the purpose.
The following table shows the control mode that can be used by MP920 Motion Modules,
and gives an overview and some examples of their uses.
* There are two methods for returning to the zero point:
• Using ZERO POINT RETURN command for position control
• Using Zero Return Mode
Note: Yes: Available, No: Not available
Control Mode Overview Typical
Applications
Module
SVA-
01A
SVA-
02A
SVB-
01
PO-
01
Speed Reference
Output Mode Rotates the motor at the
specified speed. Conveyors or
main axes Yes Yes No No
Torque Reference
Output Mode Outputs the specified torque. Injection mold-
ing machines or
presses
No Yes No No
Position Control
Mode* Specifies the target position
and speed. Executes a posi-
tion loop, identifies the dif-
ference to the target position
from the encoder, converts
the difference to the speed
reference, and performs
position control. Conveyors or
XY tables Yes Yes Yes Yes
Phase Control
Mode While executing speed con-
trol using a standard speed
reference, generates the tar-
get position from the speed
reference, and performs
phase control. Electronic cams
or electronic
shafts Yes Yes No No
Zero Return
Mode* Performs zero point position-
ing when an incremental
encoder is used. − Yes Yes No No