Yaskawa MP940 - Manual (Page 507)

Motion Parameter Tables
C.2 Motion Setting Parameters
C-8
23 Phase Bias Setting
(PHBIAS) OLC016
-2
31
to 2
31
-1
(Default = 0)
1 = 1pulse
25 Speed
Compensation
Setting (NCOM) OWC018 -32768 to 32767
(Default = 0) 1 = 0.01% (100 = 1.00%)
26 Proportional Gain
Setting (Pv) OWC019 0 to 32767
(Default = 300) 1 = 0.1/s (300 = 30.0)
27 Integral Time
Setting
(Ti) OWC01A 0 to 32767
(Default = 300) 1 = 1ms (0 = No integration) (300 = 0.300s)
28 Torque Reference
Setting
(TREF) OWC01B -32768 to 32767
(Default = 0) 1 = 0.01% (10000 = 100.00%)
29 Speed Limit Setting
(NLIM) OWC01C -32768 to 32767
(Default = 15000) 1 = 0.01%
(15000 = 150.00%)
31 Pulse Bias Setting
(PULBIAS) OLC01E
-2
31
to 2
31
-1
(Default = 0)
1 = 1 pulse
33 Motion Command
Code
(MCMDCODE) OWC020 0 to 65535
(Default = 0) 0: NOP NO command
1: POSING Positioning
2: EX_POSING External position
3: ZRET Zero point return
4: INTERPOLATE Interpolation
5: ENDOF_
INTERPOLATE Interpolation end seg-
ment
6: LATCH Interpolation with latch
7: FEED Feed
8: STEP Step
9: ZSET Zero point setting
10 to 65535: Not used.
No. Name
Register
No.
Bit Name
(Setting Range)
Meaning Remarks