Yaskawa MP920 Motion Module - Manual (Page 64)

2 Motion Control
2.3.1 Prerequisites for Position Control
2-38
„ Speed Reference
There are two methods of setting the speed reference. One method involves using a refer-
ence unit for the speed reference setting, such as the rapid traverse speed, approach speed, or
creep speed. The other method involves setting the percentage (%) corresponding to the
rated speed.
Table 2.17 shows the parameters relating to the speed reference.
Table 2.17 Speed Reference Parameters
Parameter Type Parameter No.
(Register No.)
Name Description
Motion Fixed
Parameters No.5 Pulse Counting Mode
Selection Sets the pulse count mode and multiplier.
0: Sign mode,
×1
1: Sign mode, ×2
2: Up/Down mode, ×1
3: Up/Down mode, ×2
4: A/B mode, ×1
5: A/B mode, ×2
6: A/B mode, ×4
No.7 Rated Motor Speed Setting Sets the number of rotations when the motor is
rotated at the rated speed (100% speed).
No.8 Number of Feedback Pulses
Per Rotation Sets the number of pulses (the value before mul-
tiplication) per motor rotation.
Motion Setting
Parameters Bit 13 of
OW††01 Speed Reference Value
Selection Specifies the setting unit for the rapid traverse
speed, approach speed, and creep speed, and
specifies the register number for the rapid
traverse speed.
0: Specifies the speed using a reference unit, and
sets the Rapid Traverse Speed in OL††22.
1: Specifies the speed using the percentage (%)
corresponding to the rated speed, and sets the
Rapid Traverse Speed in OW††15.
OW††0A Approach Speed Setting Sets the zero point return (ZRET) approach
speed.
The unit varies according to the Speed Reference
Selection (bit 13 of OW††01).
OW††0B Creep Speed Setting Sets the zero point return (ZRET) creep speed.
The unit varies according to the Speed Reference
Selection (bit 13 of OW††01).
OW††15 Speed Reference Setting This setting is valid when the Speed Reference
Selection (bit 13 of OW††01) is “1.”
Sets the percentage (1 = 0.01%) corresponding
to the rated speed as the rapid traverse speed.
OL††22 Rapid Traverse Speed This speed is valid when the Speed Reference
Selection (bit 13 of OW††01) is “0.” Set the
rapid traverse speed using the reference unit.
OW††2C Override Changes the actual rapid traverse speed.