Yaskawa MP940 - Manual (Page 442)

Motion Control
11.3.1 Prerequisites for Position Control
11-40
„ 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.
The following table shows the parameters relating to the speed reference.
Table 11.13 Speed Reference Parameters
When Motion Commands Are Not Used
When motion commands are not used, the Speed Reference Selection Flags are disabled,
and the speed-related parameters have the meanings shown in the following table.
Parameter Type
Parameter No.
(Register No.)
Name Description
Motion Setting
Parameters Bit 13 of OWC001 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
OLC022.
1: Specifies the speed using the percentage
(%) corresponding to the rated speed, and
sets the Rapid Traverse Speed in OWC015.
OWC00A Approach Speed Setting Sets the zero point return (ZRET) approach
speed.
The unit varies according to the Speed Reference
Selection (bit 13 of OWC001).
OWC00B Creep Speed Setting Sets the zero point return (ZRET) creep speed.
The unit varies according to the Speed Reference
Selection (bit 13 of OWC001).
OWC015 Speed Reference Setting This setting is valid when the Speed Reference
Selection (bit 13 of OWC001) is “1.”
Sets the percentage (1 = 0.01%) corresponding
to the rated speed as the rapid traverse speed.
OLC022 Rapid Traverse Speed This speed is valid when the Speed Reference
Selection (bit 13 of OWC001) is “0.” Set the
rapid traverse speed using the reference unit.
OWC02C Override Changes the actual rapid traverse speed.
Parameter No. Name Description
Bit 3 of
OWC001 Speed Reference Value
Selection Invalid
OWC00A Approach Speed Setting Specified as a percentage (%) of the rated speed.
OWC00B Creep Speed Setting Specified as a percentage (%) of the rated speed.
OWC015 Speed Reference Setting The rapid traverse speed is specified as a percent-
age (%) of the rated speed.
OLC022 Rapid Traverse Speed Invalid
OWC02C Override Invalid