Yaskawa MP920 User's Manual Design - Manual (Page 406)

7.2 Parameters for Each Motion Module
7-11
7
2 RUN Command
Settings
(
SVRUNCMD)
(cont’d)
OW 01 Bit 11: EMRST Emergency Stop/Deceleration to a Stop
Signal Reset 9
Bit 12: USE_BUF Position Reference Value Selection
0: OL 12
1: Position buffer 9 9 9 9
Bit 13: SPDTYPE Speed Reference Value Selection
0: OL 22
1: OW 15 9 9 9 9
Bit 14:
XREFTYPE Position Reference Type
0: Absolute mode
1: Incremental addition mode 9 9 9 9
Bit 15: LSDEC Zero Point Return
Deceleration Point
Limit Switch Signal 0: OFF
1: ON 9 9 9
3 Positive Torque
Limit Setting
(TLIMP) OW 02 −32768 to 32767
(Default = -300.00) 1 = 0.01% ( −30000 = −300.00%) 9
4 Not used OW 03 − Set to 0.
5 Positive Speed
Limiter Setting
(
NLIMP)
OW 04 0 to 32767
(Default = 150.00) 1 = 0.01 % (15000 = 150.00 %) 9 9
6 Negative Speed
Limiter Setting
(
NLIMN)
OW 05 0 to 32767
(Default = 150.00) 1 = 0.01 % (15000 = 150.00 %) 9 9
7 Machine Coordi-
nate System Zero
Point Offset Set-
ting
(ABSOFF) OL 06 −2 31 to 2 31 −1
(Default = 0)
1 = 1 reference unit
pulse units: 1 = 1 pulse 9 9 9 9
9 Not used OL 08 − Set to 0.
11 Approach Speed
Setting (NAPR) OW 0A 0 to 32767
(Default = 0)
The unit will vary with the speed refer-
ence selection (OB 01D).
When the speed reference value selection
= 0
1 = 10
n reference units/min
(n = Number of digits below decimal
point)
pulse units: 1 = 1000 pulses/min
(For PO-01 Module, 1 = 100 pulses/min)
mm units: 1 = 1mm/min
deg units: 1 = 1 deg/min
inch units: 1 = 1 inch/min
When the speed reference value selection
= 1
1 = 0.01 % (1000 = 10.00 %)
9 9 9
12 Creep Speed
Setting (NCLP)
OW 0B 0 to 32767
(Default = 0)
9 9 9
13 Linear Accelera-
tion Time Con-
stant (NACC)
OW 0C 0 to 32767
(Default = 0)
1 = 1 ms (300 = 0.300 s) 9 9 9 9
Table 7.3 Motion Setting Parameters (cont’d)
No. Name
Register
No.
Setting Range Meaning Remarks
SVA-
01A
SVA-
02A
SVB
-01
PO-
01