4 ) related parameters – Yaskawa MP2000 Series: Built-in SVB or SVB-01 Motion Module User Manual

Page 168

6.2 Motion Command Details

6.2.1 Position Mode (POSING) (Positioning)

6-7

Motion Commands

( 4 ) Related Parameters

[ a ] Setting Parameters

Terminology: Pulse distribution

Pulse distribution transfers reference values from the Machine Controller registers to the SERVOPACK registers every scan.
Used in describing motion command operation.

Parameter

Name

Setting SVR

Bit 0

Servo ON

Turn the power to the Servomotor ON and OFF.
1: Power ON to Servomotor, 0: Power OFF to Servomotor
Turn ON the power before setting the Motion Command (OW

08) to 1.

Bit 3

Speed Loop
P/PI Switch

Switch the speed control loop between PI control and P control.
0: PI control, 1: P control

−

Function Setting 1

Set the speed unit, acceleration/deceleration units, and filter type.

Motion Command

The positioning starts when this parameter is set to 1.
The operation will be canceled if this parameter is set to 0 during POSING com-
mand execution.

Bit 0

Holds a Command

The axis will decelerate to a stop if this bit is set to 1 during POSING command
execution.
The positioning will restart if this bit is reset to 0 when a command is being held.

Bit 1

Interrupt a Command

The axis will decelerate to a stop if this bit is set to 1 during POSING command
execution.
When this bit is reset to 0 after decelerating to a stop, the operation depends on
the setting of the Position Reference Type (OW

09, bit 5).

Bit 5

Position Reference
Type

Switch the type of position reference.
0: Incremental addition mode, 1: Absolute mode
Set this bit before setting the Motion Command (OW

08) to 1.

Speed Reference
Setting

Specify the speed for the positioning. Only a positive value can be set.
This setting can be changed during operation. The unit depends on the Function
Setting 1 setting (OW

03, bits 0 to 3).

Override

This parameter allows the positioning speed to be changed without changing the
Speed Reference Setting (OL

10). Set the speed as a percentage of the Speed

Reference Setting. This setting can be changed during operation.
Setting range: 0 to 32767 (0% to 327.67%) Setting unit: 1 = 0.01%
Example: Setting for 50%: 5000

−

Position Reference
Setting

Set the target position for positioning. This setting can be changed during opera-
tion.
The meaning of the setting depends on the status of the Position Reference Type
bit OW

09, bit 5.

Width of Positioning
Completion

Set the width in which to turn ON the Positioning Completed bit (IW

0C, bit

1).

−

NEAR Signal Output
Width

Set the range in which the NEAR Position bit (IW

0C, bit 3) will turn ON.

The NEAR Position bit will turn ON when the absolute value of the difference
between the reference position and the feedback position is less than the value set
here.

−

Straight Line Acceler-
ation/ Acceleration
Time Constant

Set the rate of acceleration or acceleration time constant for positioning.

Straight Line Deceler-
ation/ Deceleration
Time Constant

Set the rate of deceleration or deceleration time constant for positioning.

Filter Time Constant

Set the acceleration/deceleration filter time constant. Exponential acceleration/
deceleration or a moving average filter can be selected in the Function Setting 1
bit (OW

03, bits 8 to B).

Change the setting only after pulse distribution has been completed for the com-
mand (IW

0C, bit 0 is ON).