Yaskawa MP920 User's Manual Design - Manual (Page 411)

7 Parameters
7.2.2 Motion Setting Parameters
7-16
46 Position Control
Flags
(POSCTRL)
(Default = 0, all
the bits are set to
OFF)
(cont’d)
OW 2D Bit 3: PUNITSEL Position monitor 2 (IL 34) unit selec-
tion
0: Reference unit, 1: Pulse unit 9 9
Bits 4 to 11: Not used
Bits 12 to 15:
USRMONSEL Servo driver user
monitor information
selection Setting range: 0
to 4
See the relevant
servo driver’s
manual. 9
47 Workpiece Coor-
dinate System
Offset
(OFFSET)
OL 2E −2 31
to 2
31 −1
(Default = 0)
1 = 1 reference unit 1 = 1 pulse for
pulse units 9 9 9 9
49 Preset Number of
POSMAX Turns
Data
(
TURNPRS)
OL 30 −2 31 to 2 31 −1
(Default = 0)
1 = 1 rev (rotation) 9 9 9 9
51 Second In-posi-
tion Width
(INPWIDTH)
OW 32 0 to 65535
(Default = 0) 1 = 1 reference unit 1 = 1 pulse for
pulse units 9 9 9
52 Zero Point Posi-
tion Output Width
(PSETWIDTH)
OW 33 0 to 65535
(Default = 10) 1 = 1 reference unit 9 9 9 9
53 Positioning Com-
pleted Check
Time
(PSETTIME)
OW 34 0 to 65535
(Default = 0) 1 = 1 ms 9 9 9
54 Servo Driver Pa-
rameter No.
(Cn_No.)
OW 35 Set the SERVOPACK Cn constant number when the Motion
Command Code (OW 20) = 17 or 18.
(See the relevant servo driver’s manual for Cn constants.) 9
Position Control
Integral Time
(PTi) 0 to 32767
(Default = 300) 1 = 1 ms 9 9
55 Change Servo
Driver Parameter
Data
(Cn_DAT)
OL 36 −2 31
to 2
31 −1
(Default = 32767)
Set the Cn constant changed data when
the Motion Command Code (OW 20)
= 18. 9
Upper/Lower Lim-
it for Position
Control Integra-
tion
(ILIMIT) 9 9
56 Primary Lag Time
Constant
(LAGTi)
OW 37 0 to 32767
(Default = 0) 1 = 1 ms 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