Yaskawa MP920 Motion Module - Manual (Page 35)

2.2 Control Modes
2-9
2
1. Set the motion fixed parameters according to the user’s machine.
* 1. Valid only with an SVB-01 Module.
* 2. Valid only with an SVA-02A Module.
2. Set the motion parameters to be used in the speed reference output mode.
The following three methods can be used to set the motion setting parameters.
• Using the MPE720 Setting Parameter Window
• Using a ladder logic program
• Using a motion program
* Valid only with an SVA-02A Module.
In the examples, SERVOPACK is used as axis 1 of Module No. 1. When the Module
number and the axis number are different, see 4.1.2 Modules and Motion Parameter
Registers, and change the register numbers.
3. Select the Speed Reference Output Mode (NCON) (bit 0 of OW††00).
Table 2.1 Examples of Fixed Parameters
No. Name Setting Range Meaning Setting
Example
7 Rated Motor Speed Setting 1 to 32000 Rated motor speed
3000 min -1
8 Number of Feedback Pulses per
Motor Rotation 4 to 65532 Number of pulses
before multiplication 2048
9 D/A Output Voltage at 100%
Speed 0.001 to 10.000 0.001 = 0.001 V
1 = 1 V 6.000 V
Number of Feedback Pulses per
Motor Rotation
(For high-resolution) *
1
4 to 2147483647 1 = 1 pulse/rev 2048 pulses/
rev
10 D/A Output Voltage at 100%
Torque Limit*
2
0.001 to 10.000 0.001 = 0.001 V
1 = 1 V 3.000 V
Table 2.2 Examples of Setting Parameters
Name Register No. Setting
Range
Meaning Setting
Example
Positive Torque Limit
Setting (TLIMP)* OW††02 -327.68 to
327.67 0.01 = 0.01%
1 = 1% -100.00
(-100.00%)
Positive Speed Limit-
er Setting (NLIMP) OW††04 0.00 to
327.67 0.01 = 0.01%
1 = 1% 130.00
(130.00%)
Negative Speed Lim-
iter Setting (NLIMN) OW††05 0 to 327.67 0.01 = 0.01%
1 = 1% 130.00
(130.00%)
Linear Acceleration
Time Constant
(NACC) OW††0C 0 to 32767 Linear acceleration time con-
stant (ms) at speed pattern
generation 1000
(1 second)
Linear Deceleration
Time Constant
(NDEC) OW††0D 0 to 32767 Linear deceleration time
constant (ms) at speed pat-
tern generation 1000
(1 second)
Filter Time Constant
Setting (NNUM) OW††14 0 to 255 For simple S-curve accelera-
tion 0
Speed Reference
Setting (NREF) OW††15 -327.68 to
327.67 Speed reference value
0.01 = 0.01%
1 = 1% 50.00
(50.00%)