Yaskawa MP920 User's Manual Design - Manual (Page 152)

4 Motion Control
4.3.1 Prerequisites for Position Control
4-38
„ Speed Reference
There are two methods of setting the speed reference. One method involves using a reference
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.
Table 4.16 shows the parameters relating to the speed reference.
Table 4.16 Speed Reference Parameters
Parameter Type Parameter No.
(Register No.)
Name Description
Motion Fixed
Parameters No.5 Pulse Counting Mode
Selection Sets the pulse count mode and multiplier
0: Sign mode,
×1
1: Sign mode, ×2
2: UP/DOWN mode, ×1
3: UP/DOWN mode, ×2
4: A/B mode, ×1
5: A/B mode, ×2
6: A/B mode, ×4
No.7 Rated Motor Speed
Setting Sets the number of rotations when the motor is rotated at the rated
speed (100% speed).
No.8 Number of Feedback
Pulses Per Motor
Rotation Sets the number of pulses (the value before multiplication) per
motor rotation.
Motion Setting
Parameters Bit 13 of
OW††01 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 OL††22.
1: Specifies the speed using the percentage (%) corresponding to
the rated speed, and sets the Rapid Traverse Speed in
OW††15.
OW††0A Approach Speed
Setting Sets the zero point return (ZRET) approach speed.
The unit varies according to the Speed Reference Selection (bit 13
of OW††01).
OW††0B Creep Speed Setting Sets the zero point return (ZRET) creep speed.
The unit varies according to the Speed Reference Selection (bit 13
of OW††01).
OW††15 Speed Reference
Setting This setting is valid when the Speed Reference Selection (bit 13 of
OW††01) is “1.”
Sets the percentage (1 = 0.01%) corresponding to the rated speed
as the rapid traverse speed.
OW††22 Rapid Traverse Speed This speed is valid when the Speed Reference Selection (bit 13 of
OW††01) is “0.” Set the rapid traverse speed using the reference
unit.
OW††2C Override Changes the actual rapid traverse speed.