Yaskawa MP2000 Series: Built-in SVB or SVB-01 Motion Module - Manual (Page 333)

8.4 Speed Control
8.4.1 Motion Parameters for Speed Control
8-21
Control Block Diagrams
( 2 ) Setting Parameters
No. Name Setting Unit
Default
Value
Setting Range
OW 00 RUN Command Setting − 0000h Bit setting
OW 01 Mode Setting 1 − 0000h Bit setting
OW 02 Mode Setting 2 − 0000h Bit setting
OW 03 Function Setting 1 − 0011h Bit setting
OW 04 Function Setting 2 − 0033h Bit setting
OW 05 Function Setting 3 − 0000h Bit setting
OW 08 Motion Command − 0 0 to 39
OW 09 Motion Command Control Flag − 0000h Bit setting
OW 0A Motion Subcommand − 0 0 to 65535
OL 0C Torque/Thrust Reference Setting
Depends on torque
unit.
0 -2 31 to 2 31 −1
OW 0E
Speed Limit Setting at the Torque/Thrust Refer-
ence
0.01% 15000 -32768 to 32767
OL 10 Speed Reference Setting
Depends on speed
unit.
3000 -2 31 to 2 31 −1
OL 14
Positive Side Limiting Torque/Thrust Setting at
the Speed Reference Depends on torque
unit.
30000 -2 31 to 2 31 −1
OL 16 Secondly Speed Compensation
Depends on speed
unit.
0 -2 31 to 2 31 −1
OW 18 Override 0.01% 10000 0 to 32767
OL 1C Position Reference Setting Reference unit 0 -2 31 to 2 31 −1
OL 1E Width of Positioning Completion Reference unit 100 0 to 65535
OL 20 NEAR Signal Output Width Reference unit 0 0 to 65535
OL 22 Error Count Alarm Detection Reference unit 2
31 −1 0 to 2
31 −1
OW 26 Positioning Completion Check Time ms 0 0 to 65535
OL 28 Phase Correction Setting Reference unit 0 -2 31 to 2 31 −1
OL 2A
Latch Zone Lower Limit Setting (for External Po-
sitioning)
Reference unit -2 31 -2 31 to 2 31 −1
OL 2C
Latch Zone Upper Limit Setting (for External Po-
sitioning)
Reference unit 2 31 −1 -2 31 to 2 31 −1
OW 2E Position Loop Gain 0.1/s 300 0 to 32767
OW 2F Speed Loop Gain Hz 40 1 to 2000
OW 30 Speed Feed Forward Amends 0.01% 0 0 to 32767
OW 31 Speed Amends 0.01% 0 -32768 to 32767
OW 32 Position Integration Time Constant ms 0 0 to 32767
OW 34 Speed Integration Time Constant 0.01 ms 2000 15 to 65535
OL 36
Straight Line Acceleration/Acceleration Time
Constant
Depends on acceler-
ation/deceleration
speed unit.
0 0 to 2 31 −1
OL 38
Straight Line Deceleration/Deceleration Time
Constant
Depends on acceler-
ation/deceleration
speed unit.
0 0 to 2 31 −1
OW 3A Filter Time Constant 0.1 ms 0 0 to 65535
OW 3C Zero Point Return Method − 0 0 to 19
OW 3D Width of Starting Point Position Output Reference unit 100 0 to 65535
OL 3E Approach Speed
Depends on speed
unit.
1000 -2 31 to 2 31 −1
OL 40 Creep Rate
Depends on speed
unit.
500 -2 31 to 2 31 −1
OL 42 Zero Point Return Travel Distance Reference unit 0 -2 31 to 2 31 −1
OL 44 STEP Travel Distance Reference unit 1000 0 to 2 31 −1
OL 46 External Positioning Final Travel Distance Reference unit 0 -2 31 to 2 31 −1
OL 48
Zero Point Position in Machine Coordinate Sys-
tem Offset
Reference unit 0 -2 31 to 2 31 −1
OL 4A Work Coordinate System Offset Reference unit 0 -2 31 to 2 31 −1