Yaskawa MP940 - Manual (Page 504)

C-5
C
C.2 Motion Setting Parameters
Motion setting parameters serve as instructions to SVA Modules. They are located at the top
of high-speed scans and are sent together to SVA Modules. Motion can be controlled simply
by setting parameters in these registers.
Table C.1 Motion Setting Parameters
No. Name
Register
No.
Bit Name
(Setting Range)
Meaning Remarks
1 RUN Mode
Settings
（ RUNMODE）
OWC000 Bit 0: NCON Speed Reference Output Mode
Bit 1: TCON Torque Reference Output Mode
Bit 2: PCON Position Control Mode
Bit 3: PHCON Phase Control Mode
Bit 4: ZRN Zero Point Return Mode
Bit 5: PHTEST Phase Control Test Signal
Bit 6: ACR Alarm Clear
Bit 7: PHREFOFF Phase Reference Disable
Bit 8: MCDSEL 0: Motion command code
(OWC020) disabled
1: Motion command code
(OWC020) enabled
Bit 9: ZRNDIR Zero Point Return Direction Selection
0: Negative (deceleration)
1: Positive (acceleration)
Bit 10: ABSRD Absolute Position Read Request
Bit 11: Feed forward Compensation During Control
Mode Switching
Bit 12: Not used.
Bit 13: DIINTREQ DI Latch Request
Bit 14: Not used.
Bit 15: IRESET Phase Control Integration Reset
2 RUN Command
Settings
(SVRUNCMD) OWC001 Bit 0: RUN (D00) RUN Servo ON
Bit 1: P-CON Speed Loop P/PI Switching
Bit 2: G-SEL Gain Selection
Bit 3: P-CL Forward External Torque Control Input
Bit 4: N-CL Reverse External Torque Control Input
Bit 5: ZCLAMP Zero Clamp Input
Bit 6: PHSCZNSEL Phase Control Mode Synchronous Scan Selection
0: H scan
1: S scan
Bit 7: PSCANSEL Control Loop Synchronous Scan Selection
0: H scan
1: S scan
Bit 8: ACCSEL Select Acceleration/Deceleration Function ON/
OFF during Simple Positioning
0: H scan
1: S scan