Yaskawa MP920 User's Manual Design - Manual (Page 154)

4 Motion Control
4.3.1 Prerequisites for Position Control
4-40
Table 4.17 shows some examples of the parameter settings.
* 1. Select Enabled (= 1) in bit 9 (override enabled selection) of motion
fixed parameter No. 17.
* 2. “4” is the pulse multiplier.
Parameter Setting Examples
1. Speed Reference Value Selection Set to “0”
a) Pulses Selected as the Unit
When you wish to perform operations with the fixed parameters set for a rapid
traverse speed of 1,500 r/min, an approach speed of 300 r/min, and a creep speed of
150 r/min, use the following settings.
• OW††0A = 30 (r/min) × 2,048 × 4 (ppr) ÷ 1,000 = 2,457 (= 2457000 ppm)
• OW††0B = 150 (r/min) × 2,048 × 4 (ppr) ÷ 1,000 = 1,228 (= 1228000 ppm)
• OW††15 = (Invalid)
• OW††22 = 1,500 (r/min) × 2,048 × 4 (ppr) ÷ 1,000 = 12,288 (= 12288000 ppm)
• OW††2C = 10,000 (100%)
b) Millimeters Selected as the Unit
When you wish to perform operations with the fixed parameters set for a rapid
traverse speed of 900 mm/min, an approach speed of 180 mm/min, and a creep speed
of 90 mm/min in a machine configuration that moves the axis 10 mm in one rotation,
use the following settings.
• OW††0A = 180
• OW††0B = 90
• OW††15 =
(Invalid)
• OW††22 = 900
• OW††2C = 10,000 (100%)
Table 4.17 Parameter Setting Examples
Parameter Type Parameter No.
(Register No.)
Name Description Initial Value
Motion Fixed
Parameters No.5 Pulse Counting Mode Selection No. 5 = A/B mode, ×4
No. 7 = 3,000 r/min
No. 8 = 2,048 p/r
Therefore,
Rated speed = 3,000 r/min
= 3,000
× 2,048 × 4 *2
= 2,575,000 ppm
Various parameter setting examples
are given below.
A/B mode ( ×4)
No.7 Rated Motor Speed Setting 3000
No.8 Number of Feedback Pulses Per
Motor Rotation 2048
Motion Setting
Parameters Bit 13 of
OW††01 Speed Reference Value Selection 0
OW††0A Approach Speed Setting 0
OW††0B Creep Speed Setting 0
OW††15 Speed Reference Setting 0
OW††22 Rapid Traverse Speed 0
OW††2C
Override
*1 100%