Yaskawa MP920 User's Manual Design User Manual
Page 408
7.2 Parameters for Each Motion Module
7-13
7
28 Torque Reference
Setting
(TREF)
OW 1B
−32768 to 32767
(Default = 0.00)
1 = 0.01 % (10000 = 100.00 %)
9
29 Speed Limit Set-
ting
(NLIM)
OW 1C
−32768 to 32767
(Default = 150.00)
1 = 0.01 %
(15000 = 150.00 %)
9
30 Speed Loop Gain
(kv)
OW 1D 1 to 20000
(Default = 40.0)
1 = 0.1 Hz
(400 = 40.0 Hz)
9
31 Pulse Bias
Setting
(PULBIAS)
OL 1E
−2
31
to 2
31
−1
(Default = 0)
1 = 1 pulse
9
9
9
33 Motion Com-
mand Code
(MCMDCODE)
OW 20
0 to 65535
(Default = 0)
0: NOP
No command
9
9
9
9
1: POSING
Positioning
9
9
9
9
2: EX_POSING
External posi-
tioning
9
9
9
3: ZRET
Zero point return
9
9
9
9
4: INTERPOLATE
Interpolation
9
9
9
9
5: ENDOF_
INTERPOLATE
Interpolation end
segment
9
9
9
9
6: LATCH
Interpolation
with latch
9
9
9
7: FEED
Feed (JOG)
9
9
9
9
8: STEP
Step
9
9
9
9
9: ZSET
Zero point setting
9
9
9
9
10: ACC
Change 1st step
linear accelera-
tion/deceleration
time constant
9
11: DCC
Change decelera-
tion time con-
stant
*
12: SCC
Change moving
average time
constant
9
13: CHG_FILTER
Change filter
type
9
14: KVS
Change speed
loop gain (Kv)
9
15: KPS
Change position
loop gain (Kp)
9
16: KFS
Change feed for-
ward (Kf)
9
17: CN_RD
Read servo driver
Cn constant
9
18: CN_WR
Change servo
driver Cn con-
stant
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