Yaskawa MP940 User Manual
Page 272
Parameters
6.3.2 Motion Setting Parameter Details
6-32
49
Preset Number of
POSMAX Turns
Data (TURNPRS)
OLC030
-2
31
to 2
31
-1
ILC01E: POSMAX Number of Turns can be preset
with preset data by turning ON OBC02D1:
Request for Preset Number of POSMAX Turns. It
is used in situations such as when resetting the
number of turns to “0."
The parameter is used when an OWC020: Motion
Command Code is used in Position Control Mode.
0
51
Second In-
position Width
(INPWIDTH)
OWC032
0 to 65535
Set the range where bit 2 of IWC017: Second In-
position Completed will turn ON.
Bit 2 of IWC017: Second In-position Completed
will turn ON when IBC0152: Distribution Com-
pleted is ON and the difference between the com-
mand position and the feedback position is leess
than the value set here. This parameter is used
when an OWC020: Motion Command Code is
used in Position Control Mode.
0
52
Zero Point
Position Output
Width
(PSETWIDTH)
OWC033
0 to 65535
Set the zero point position range. IBC0171: Zero
Point Position will turn ON if 0 |ILC018: Refer-
ence Position in Machine Coordinate System|
Zero Point Position Output Width when IBC0156:
Zero Point Return Completed Status turns ON.
The parameter is used when an OWC020: Motion
Command Code is used in Position Control Mode.
10
53
Positioning
Completed Check
Time
(PSETTIME)
OWC034
0 to 65535
Set limits for detecting bit 6 of ILC022: Position-
ing Time Over in 1 = 1 ms. A positioning time over
alarm will be generated if bit 13 of IWC000: Posi-
tioning Time Completed Signal does not turn ON
when this range is exceeded after bit 2 of IWC015:
Distribution Completed turns ON.
The completion of positioning will not be checked
if this parameter is set to “0.” It is valid only when
an OWC020: Motion Command Code is used in
Position Control Mode.
0
54
Position Control
Integral Time
(PTI)
OWC035
0 to 32767
Set integral time in 1 = 1 ms when using position
loop and PI control (see bit 8 of OWC021). Inte-
gration will not be performed if this parameter is
set to “0.” The parameter is used in Position Con-
trol Mode or Zero Point Return Mode.
300
55
Upper/lower Limit
for Position
Control
Integration
(ILIMIT)
OWC036
0 to 32767
Set the upper and lower integration limits when
using position loop and PI control (Refer to bit 8 of
OWC021.) Integral output will be limited within
the range set here when the integral output value
exceeds this range.
32767
56
Primary Lag Time
Constant
(LAGTI)
OWC037
0 to 32767
Set the primary lag time constant in the position
loop in 1 = 1 ms. The primary lag will not be cal-
culated if this parameter is set to “0.” The parame-
ter is used in Position Control Mode or Zero Point
Return Mode.
0
No.
Name
Register
Number
Bit Name
Description
Default
≤
≤