Yaskawa MP940 User Manual

Page 267

6.3 SVA Parameter Details

6-27

Integral Time
Setting (Ti)

OWC01A

0 to 32767

Set the integral time for PI control in 1 ms units in
Phase Control Mode. Integration will be reset if
the integral time is set to 0.

300
(300ms)

Torque Reference
Setting (TREF)

OWC01B

-32768 to 32767

Set the torque reference in 0.01% units in Torque
Reference Output Mode.

Speed Limit
Setting (NLIM)

OWC01C

-32768 to 32767

Set the speed limit in 0.01% units in Torque Refer-
ence Output Mode.

15000(150.00
%)

Pulse Bias
Setting
(PULBIAS)

OLC01E

-2

to 2

-1

This parameter is used in Position Control Mode.
Position Control Mode

Set the number of compensation pulses.

OWC020: Motion Command Code Used in Posi-
tion Control Mode

This parameter is set in 1 pulse units when com-
pensating reference pulses such as with backlash
compensation. Compensation will not be per-
formed however if IBC0170: Machine Lock is
ON.

Motion Command
Code
(MCMDCODE)

OWC020

0 to 65535

Set the motion command code to the MP940 Mod-
ule. This parameter can be used under the follow-
ing conditions.

• Motion Command Selection (bit 7 of fixed

parameter no. 14)

• Position Control Mode Selection (OBC0002)
• RUN Mode Motion Setting Command Enabled

(OBC0008)

Motion Commands

0: NOP (no command)
1: Positioning (POSING)
2: External positioning (EX-POSING)
3: Zero point return (ZRET)
4: Interpolation (INTERPOLATE)
5: Do not use. Reserved for system use.
6: Interpolation with position detection
(LATCH)
7: Feed (FEED)
8: Step (STEP)
9: Zero point setting (ZSET)
10 to 65535: Not used

No.

Name

Number

Bit Name

Description

Default