Yaskawa MP940 - Manual (Page 411)

11.2 Control Modes
11-9
11
Table 11.1 Examples of Setting Parameters
2. Select the Speed Control Mode (NCON) (bit 0 of OWC000).
3. Set the Servo ON (RUN) to ON (bit 0 of OWC001).
The speed reference will be output for the axis according to the specified motion param-
eters.
Even while the Speed Control Mode is being selected, the motion parameter settings can
be changed.
4. To stop operation, set the RUN command (RUN) and the Speed Control Mode (NCON)
to OFF.
„ User Program Examples
Example of RUN Operation
Fig 11.1 Speed Pattern
Name Register No.
Setting
Range
Meaning
Setting
Example
Positive Torque Limit Setting
(TLIMP) OWC002 -327.68 to
327.67 0.01 = 0.01%
1 = 1% -100.00
(-100.00%)
Positive Speed Limiter Setting
(NLIMP) OWC004 0.00 to
327.67 0.01 = 0.01%
1 = 1% 130.00
(130.00%)
Negative Speed Limiter Setting
(NLIMN) OWC005 0.00 to
327.67 0.01 = 0.01%
1 = 1% 130.00
(130.00%)
Linear Acceleration Time
Constant (NACC) OWC00C 0 to 32767 Linear acceleration time constant
(ms) at speed pattern generation 1000
(1 second)
Linear Deceleration Time
Constant (NDEC) OWC00D 0 to 32767 Linear deceleration time constant
(ms) at speed pattern generation 1000
(1 second)
Filter Time Constant Setting
(NNUM) OWC014 0 to 255 For simple S-curve acceleration 0
Speed Reference Setting (NREF) OWC015 -327.68 to
327.67 Speed reference value
0.01 = 0.01%
1 = 1% 50.00
(50.00%)
NR
（ 100%）
NREF
（ 50%）
0
NACC NACC
Speed
(%)
Speed reference
1 second 1 second
Time
(t)