Yaskawa MP920 User's Manual Design - Manual (Page 405)

7 Parameters
7.2.2 Motion Setting Parameters
7-10
7.2.2 Motion Setting Parameters
Motion setting parameters serve as instructions to SVA Modules. They are located at the top
of high-speed scans and are sent together to SVA Modules. Motion can be controlled simply
by setting parameters in these registers.
Table 7.3 Motion Setting Parameters
No. Name
Register
No.
Setting Range Meaning Remarks
SVA-
01A
SVA-
02A
SVB
-01
PO-
01
1 RUN Mode Set-
tings
（ RUNMODE）
OW 00 Bit 0: NCON Speed Reference Out-
put Mode 0: OFF, 1: ON 9 9
Bit 1: TCON Torque Reference
Output Mode 0: OFF, 1:ON 9
Bit 2: PCON Position Control
Mode 0: OFF, 1:ON 9 9 9 9
Bit 3: PHCON Phase Control Mode 0: OFF, 1:ON 9 9
Bit 4: ZRN Zero Point Return
Mode 0: OFF, 1:ON 9 9
Bit 5: PHTEST Phase Control Test
Signal 0: OFF, 1:ON 9 9
Bit 6: ACR Alarm Clear 0: OFF, 1:ON 9 9 9 9
Bit 7: PHREFOFF Phase Reference Dis-
able 0: OFF, 1:ON 9 9
Bit 8: MCDSEL Motion Command
Mode Enable/Disable 0: OFF, 1:ON 9 9 9 9
Bit 9: ZRNDIR Zero Point Return
Direction Selection 0: OFF, 1:ON 9 9 9 9
Bit 10: ABSRD Absolute Position
Read Request 0: OFF, 1:ON 9 9
Bit 11: Feedforward Com-
pensation at Swith-
ing Control Mode 0: OFF, 1:ON 9 9
Bit 12: Not used
Bit 13: DIINTREQ DI Latch Request 0: OFF, 1:ON 9 9
Bit 14: Not used
Bit 15: IRESET Phase Control Inte-
gration Reset 0: OFF, 1:ON 9 9
2 RUN Command
Settings
(
SVRUNCMD)
OW 01 Bit 0: RUN Servo ON (DO0) 0: OFF, 1:ON 9 9 9
Excitation ON (DO0) 0: OFF, 1:ON 9
Bit 1: D01 DO1 0: OFF, 1:ON 9 9 9
Bit 2: D02 DO2 0: OFF, 1:ON 9 9 9
Bit 3: D03 DO3 0: OFF, 1:ON 9 9 9
Bit 4: D04 ROC 0: OFF, 1:ON 9
DO4 0: OFF, 1:ON 9
Bit 5: Not used
Bits 6 to 10: Not used