Yaskawa MP930 - Manual (Page 200)

5.1 Description of Parameters
5 -15
Parameters MP930 Motion Commands Can Write
Motion commands can be used for the following parameters to write settings on the Controller
to the Servopack.
Parameter Name Controller Servopack
Speed Loop Gain OWxx1D Cn-0004
Position Loop Gain OWxx10 Cn-001A
Feed Forward Compensation OWxx11 Cn-001D
The following procedure must be used to change parameters.
D Example showing the procedure for writing position loop gain from a motion program.
WHILE OWxx20<>; j Check to see if motion command OWxx20 is set to 0 (NOP).
EOX; j ONE SCAN WAIT command
WEND;
OWxx10 = 200; j Position loop gain: Store the value at OWxx10.
OWxx20 = 15; j Set motion command OWxx20 to 15 (KPS command).
WHILE IWxx14<>15; j Wait until the command response is 15 (KPS command).
EOX;
WEND;
OWxx20 = 0 j Set motion command OWxx20 to 0 (NOP).
arameters that Must Be the Same for MP930 and Servopack
Motion control will not function properly if the following parameters are not the same.
Parameter Name MP930 Servopack
Encoder Selection Fixed Parameter 3 Cn-0001 bE
No. of Encoder Pulses Fixed Parameter 8 Cn-0011
Parameters Set Either on Controller or Servopack
Motion control will not function properly if both the following sets of parameters are used at
the same time.
Parameter Name MP930 Servopack
Electronic Gear Ratio, Numerator Fixed Parameter 20 Cn-0024
Electronic Gear Ratio, Denominator Fixed Parameter 21 Cn-0025
Do not normally use the electronic gear ratio parameters on the Servopack, but set the Cn-0024 and Cn-0025
to 1 during set up.
When the electronic gear ratio on the Servopack is 1:1, the reference unit on the Servopack is in pulse.
5
A EXAMPLE "
IMPORTANT