Yaskawa JAPMC-MC2300 User Manual
Page 107
5.4 MP2000 Series Machine Controller Parameter Details
5.4.2 Motion Setting Parameter Details
5-35
5
Motion Parameters
( 18 ) Deviation Abnormal Detection Value
( 19 ) Position Compensation
( 20 ) Position Complete Timeout
( 21 ) Phase Compensation
OL
22
Error Count Alarm Detection
Setting Range
Setting Unit
Default Value
0 to 2
31
−1
Reference unit
2
31
−1
Description
Set the value to detect an excessively following error during position control.
The Excessive Deviation bit (IW
04, bit 9) turns ON if the result from subtracting the Machine Coordinate System
Feedback Position (monitoring parameter IL
16) from the Machine Coordinate System Reference Position (monitor-
ing parameter IL
12) is greater than the NEAR Signal Output Width. An excessively following error will not be
detected if this value is set to 0.
Related Parameters
An excessively following error can be set to be treated either as a warning or as an alarm in the Excessive Deviation Error
Level Setting in Mode Setting 1 (setting parameter OW
01, bit 0).
OW
01, bit 0 = 0: Alarm (default) (stops axis operation)
OW
01, bit 0 = 1: Warning (continues axis operation)
OL
24
Position Correction Setting
Setting Range
Setting Unit
Default Value
−2
31
to 2
31
−1
Reference unit
0
Description
Set the position compensation amount in reference units.
OW
26
Position Completion Check Time
Setting Range
Setting Unit
Default Value
0 to 65535
ms
0
Description
Set the time to detect a positioning time over error.
If the Positioning Completed bit does not turn ON within the time set here after reference pulses have been distributed
during position control, a Positioning Time Over alarm (monitoring parameter IL
04, bit 6) will occur. The comple-
tion of positioning will not be checked if this parameter is set to 0.
OL
28
Phase Correction Settting
Setting Range
Setting Unit
Default Value
−2
31
to 2
31
−1
Reference unit
0
Description
Set the phase compensation in reference units for phase reference commands.
Use this parameter to compensate for reference pulses in control systems without rigidity, in which higher gain cannot be
applied.
Use this parameter as the target position for the cam pattern with incremental addition.
Refer to 7.2.11 Phase References (PHASE) on page 7-81 for details on phase reference commands.
Position
Phase
Speed Torque
Position
Phase
Speed Torque
Position
Phase
Speed Torque
Speed
Time
Time
Position Error
Width of Position
Completed
When this time is longer than the Position Completion Check
Time, a Positioning Time Over alarm will occur.
Distribution completed
Positioning
Time Over
Phase
Speed Torque
Position