Yaskawa MP2000 Series: Built-in SVB or SVB-01 Motion Module - Manual (Page 525)

Appendix H Wild Card Servos
H.3 Link Assignment
A-36
H.3 Link Assignment
Start the MPE720 to open the Link Assignment Tab bed Page in the MECHATROLINK Transmission Definition
Window. Make the settings as shown in the table below in the station where you want to allocate a wild card servo.
SVB Module operates as though the actual object is true, despite the setting. If “*****SERVO” is set in place of
“SGDS-
1 ” for example, the SVB Module recognizes it as SGDS and operates accordingly.
H.4 Invalid Motion Parameters When Using Wild Card Servos
The following motion parameters are invalid when using wild card servos.
Fixed Parameters
Setting Parameters
* Valid only for VELO (Speed Reference) command.
Monitoring Parameters
TYPE INPUT SIZE OUTPUT SIZE SCAN
*****SERVO Blank Blank Blank Blank HIGH (Fixed)
No. Name Setting Range Default Description
16 Backlash Compensation Amount -2 31 to 2 31 -1 0 1 = 1 reference unit
29 Motor Type Selection
0: Rotation type motor,
1: Linear motor 0: Rotation
type motor
Register Name
Setting
Range
Default Description
OW 03 Function Setting 1 0 or 1 0
Bits 4 to 7: Acceleration/Deceleration
Degree Unit Selection
OW 04 Function Setting 2 0 to 14 0 Bits 12 to 15: Bank Selector
OW 06 Option Setting Bit setting 0 Bits 10 to 15: Options for Stepper
OW 09 Motion Command Control Flag Bit setting 0
Bit 3: Zero Point Return Direction Selec-
tion
Bit 4: Latch Zone Effective Selection
OL 1E Width of Positioning Completion 0 to 65535 100 1 = 1 reference unit
OL 2A Latch Zone Lower Limit Setting -2 31 to 2 31 -1 0-2 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 = 1.0/s
OW 2F Speed Loop Gain 1 to 2000 40 1 = 1 Hz
OW 30 Speed Feedforward Amends 0 to 32767 0 1 = 0.01%
OW 32 Position Integration Time Constant 0 to 32767 0 1 = 1 ms
OW 34 Speed Integration Time Constant 15 to 65535 2000 1 = 0.01 ms
OW 36
Straight Line Acceleration/Accelera-
tion Time Constant
*
0 to 2 31 -1 0 1 = 1 reference unit/s 2 , 1 = 1 ms
OW 38
Straight Line Deceleration/Decelera-
tion Time Constant
*
0 to 2 31 -1 0 1 = 1 reference unit/s 2 , 1 = 1 ms
OW 3A Filter Time Constant * 0 to 65535 0 1 = 0.1 ms
OL 42 Zero Point Return Travel Distance -2 31 to 2 31 -1 0 1 = 1 reference unit
OL 46
External Positioning Final Travel
Distance
-2 31 to 2 31 -1 0 1 = 1 reference unit
Register Name Setting Range Description
IL 42 Feedback Torque/Thrust -2 31 to 2 31 -1 1 = 0.01% or 0.0001%