Yaskawa MP2000 Series: Built-in SVB or SVB-01 Motion Module - Manual (Page 514)

Appendix G Settings when Connecting MECHATROLINK-II Compatible Stepping Motor Drivers
G.4 Restrictions on the Use of Motion Parameters
A-25
Appendices
G.4 Restrictions on the Use of Motion Parameters
When using an M-II Stepper, the specifications of some motion parameters are different from when using servos.
( 1 ) Invalid Parameters When Using an M-II Stepper
Fixed Parameters
Setting Parameters
Monitoring Parameter
No. Name Setting Range Default Description
16 Backlash Compensation Amount -2 31 to 2 31 -1 0 1 = 1 reference unit
Register Name Setting Range Default Description
OW 00 Run Command Setting Bit setting 0
Bit 4: Latch Detection Demand
Bit 8: Forward Outside Limiting
Torque/Thrust Input
Bit 9: Reverse Outside Limiting
Torque/Thrust Input
Bit 11: Integration Reset
OW 01 Mode Setting 1 Bit setting 0
Bit 3: Speed Loop P/PI Switch
Bit 4: Gain Switch
OW 03 Function Setting 1
0 to 2 0 Bits 8 to 11: Filter Type Selection
0 or 1 0 Bits 12 to 15: Torque Unit Selection
OW 05 Function Setting 3 Bit setting 0
Bit 1: Phase Reference Creation
Calculation Disable
Bit 11: Zero Point Return Input Signal
OW 09 Motion Command Control Flag Bit setting 0
Bit 4: Latch Zone Effective Selection
Bit 6: Phase Compensation Type
OL 0C Torque/Thrust Reference Setting -2 31 to 2 31 -1 0 1 = 0.01% or 0.0001%
OW 0E
Speed Limit Setting at the
Torque/Thrust Reference
-32768 to 32767 15000 1 = 0.01%
OL 14
Positive Side Limiting Torque/
Thrust Setting at the Speed Ref-
erence
-2 31 to 2 31 -1 30000 1 = 0.01%
OL 1E Width of Positioning Completion 0 to 65535 100 1 = 1 reference unit
OL 28 Phase Correction Setting -2 31 to 2 31 -1 0 1 = 1 reference unit
OL 2A Latch Zone Lower Limit Setting
-2 31 to 2 31 -1 -2 31 1 = 1 reference unit
OL 2C Latch Zone Upper Limit Setting -2 31 to 2 31 -1 2 31 -1 1 = 1 reference unit
OW 2E Position Loop Gain 0 to 32767 300 1 = 0.1/s
OW 2F Speed Loop Gain 1 to 2000 40 1 = 1 Hz
OW 30 Speed Feed Forward Amends 0 to 32767 0 1 = 0.01%
OW 32
Position Integration Time Con-
stant
0 to 32767 0 1 = 1 ms
OW 34 Speed Integration Time Constant 15 to 65536 2000 1 = 0.01 ms
OW 3A Filter Time Constant 0 to 65535 0 1 = 0.1 ms
OW 3C Zero Point Return Method 0 to 19 0 −
Register Name Range Description
IL 42 Feedback Torque/Thrust -2 31 to 2 31 -1 1 = 0.01% or 0.0001%