Yaskawa MP920 User's Manual Design - Manual (Page 157)

4.3 Position Control
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* Valid only with an SVA-02A Module.
3. Select the Speed Reference Output Mode (PCON) (bit 2 of OW††00).
4. Set the Servo ON (RUN) to ON (bit 0 of OW††01).
The axis is positioned according to the specified motion parameters.
Even during positioning, the motion parameter settings can be changed.
5. To stop position control, set the RUN command (RUN) and the position control mode
(PCON) to OFF.
The POSCOMP Positioning Completed Signal (bit D of IW††00) turns ON when the
axis enters the positioning completed range. Control continues even when the axis enters
the positioning completed range (the axis enters servo clamp status).
Table 4.19 Examples of Setting Parameters
Name Register No. Setting
Range
Meaning Setting
Example
Positive Torque Limit
Setting (TLIMP)* OW††02 -32768 to
32767 1 = 0.01% -10000
(-100.00%)
Positive Speed Limiter
Setting (NLIMP) OW††04 0 to 32767 1 = 0.01% 13000
(130.00%)
Negative Speed Limit-
er Setting (NLIMN) OW††05 0 to 32767 1 = 0.01% 13000
(130.00%)
Zero Point Offset
(ABSOFF) OL††06
-2 31 to 2 31 -1
1 = 1 reference unit
With pulse: 1 = 1 pulse 100 pulses
Linear Acceleration
Time Constant
(NACC) OW††0C 0 to 32767 Linear acceleration time
constant (ms) at speed
pattern generation 1000
(1 second)
Linear Deceleration
Time Constant
(NDEC) OW††0D 0 to 32767 Linear deceleration time
constant (ms) at speed
pattern generation 1000
(1 second)
Positioning Completed
Range Setting (PEXT) OW††0E 0 to 65535 1 = 1 reference unit
With pulse: 1 = 1 pulse 10 pulses
Error Count Alarm De-
tection Setting (EOV) OW††0F 0 to 32767 1 = 1 reference unit
With pulse: 1 = 1 pulse 65535 pulses
Position Loop Gain
Setting (KP) OW††10 0 to 32767 0.1 = 0.1 /s
1 = 1 /s 300
(30.0 /s)
Filter Time Constant
(NNUM) OW††14 0 to 255 For simple S-curved
acceleration 0
Feed Forward Gain
Setting (Kf) OW††11 0 to 200 1 = 0.01% 0
Position Reference
Setting (XREF) OL††12
-2 31 to 2 31 -1
1 = 1 reference unit
With pulse: 1 = 1 pulse 10000 pulses
Speed Reference
Setting (NREF) OW††15 -32768 to
32767 Speed reference value
1 = 0.01% 5000
(50.00%)