Yaskawa MP920 User's Manual Design - Manual (Page 543)

Appendix A
A.3.2 Motion Setting Parameters
A-28
15 Positioning
Completed
Range Setting
(PEXT)
OW††0E 0 to 65535
(Default =
10) 1 = 1 pulse
or
1 = 1 refer-
ence unit 100 − − 10 −
16 Error Count
Alarm Detection
Setting (EOV)
OW††0F 0 to 65535
(Default =
65535) 1 = 1 pulse 65535 − − 65535 65535
17 Position Loop
Gain Setting
(Kp)
OW††10 1 to 32767
(Default =
300) 1 = 0.1 /s 500
(50.0) − − Set an appropriate
value. −
18 Feed Forward
Gain Setting
(Kf)
OW††11 0 to 200
(Default = 0) 1 = 1%
(10 = 10%) − − − −
19 Position
Reference
Setting (XREF)
OL††12
0 to ±2 31 -1
(Default = 0)
1 = 1 pulse
or 1 refer-
ence unit − − − −
21 Filter Time
Constant Setting
(NNUM)
OW††14 0 to 255 or
0 to 32767
(Default = 0) 1 = 1 time or
1 ms
(0 or 1 = No
averaging) − 0 − 0 −
22 Speed
Reference
Setting
(NREF)
OW††15 0 to ±32767
(Default = 0)
1 = 0.01% − 10000
(100%) − 10000 (100%) 10000
(100%)
23 Phase Bias
Setting
(PHBIAS)
OL††16
0 to ±2 31
-1
(Default = 0)
1 = 1 pulse − − − − Set an
appro-
priate
value.
25 Speed
Compensation
Setting
(NCOM)
OW††18 0 to ±32767
(Default = 0)
1 = 0.01% − − −
26 Proportional
Gain Setting
(Kv)
OW††19 0 to ±32767
(Default =
300)
1 = 0.1 /s − − − −
27 Integral Time
Setting
(Ti)
OW††1A 0 to ±32767
(Default = 0)
1 = 1 ms
(0 = No inte-
gration) − − − − 300
(300
ms)
28 Torque
Reference
Setting
(TREF)
OW††1B 0 to ±32767
(Default = 0)
1 = 0.01% − − 10000
(100%) − −
29 Speed Limit
Setting
(NLIM)
OW††1C 0 to ±32767
(Default =
15000)
1 = 0.01% − − 10000
(100%) − −
30 Not used OW††1D - - − − − − − −
(cont’d)
No. Name Register
Number
Setting
Range
Meaning Basic Counter
Zero
Point
Return
Speed Torque Position Phase
Position
1
Position
2