Yaskawa MP2000 - Manual (Page 23)

MP2000 Quick Reference Guide Rev1.21
Reference Units (User Units)
FP34: Rated Speed [RPM] (Default 3000)
OL8010: Speed Reference [select unit OW8003.0-3] (Default 3000)
0: [ RU /sec]
1: [10^ n RU /min]
2: [% of Rated Speed (FP34)]
OL801C: Position Reference [ RU ]
or
OL8044: Step Distance [
RU ]
OB80092 = Step Direction
OL8036: Acceleration [select unit OW8003.4-7] (Default 0)
0: [ RU /sec^2]
1: [ms to Rated Speed (FP34)]
Servopack Pn80B: Acceleration Rate
[10,000
RU /sec^2] (Default 65535)
FP1.A=1
Update at power up or
when changed
OL8038: Deceleration [select unit OW8003.4-7] (Default 0)
0: [ RU /sec^2]
1: [ms to Rated Speed (FP34)]
Servopack Pn80E: Deceleration Rate
[10,000
RU /sec^2] (Default 65535)
FP1.A=1
Update at power up or
when changed
OL8036/OL8038 =0 sets servopack acceleration/deceleration rate to
65535[10,000 RU/sec^2], independent of unit selected in OW8003.4-7
n = 3 when FP4=0 (pulse)
n = FP5 when FP4<>0
KEY
* RU = "reference unit" = "user unit" - fraction of the measurement system
* FP = Fixed Parameter
* MCC = Motion Command Code (OWxx08)
* Register Values given for Circuit#1, Axis#1
* Bold type represents default setting
RU = FP4 *10^- n
FP4 = RU Measurement
. System
0: Pulse (post quad)
1: mm
2: deg
3: inch
4: micron
If PULSE is not chosen for the measurement
system use the following parameters to define the
relationship between PULSE and RU.
FP36: Encoder Pulses (post quad) per motor rev
FP8: Motor Revs into gearbox
FP9: Machine Shaft Revs out of gearbox
FP6: RU per Machine Shaft Revolution
Motor G.B.
36 8 9
6
NOTES:
* Register Addresses assume Circuit#1, Axis#1
* Default Positioning units are [encoder pulses (post quad)]
* Default Speed Reference units are [1000 pulses/min]
* Default Accel/Decel units are [ms to rated motor rpm]
* Default FP1.A=1 autmatically transfers accel/decel to servopack
* MPE720 5.31B "Units" in module configuration do not update
* Basic Module User Manual
(SIEPC88070003B)
lists incorrect unit defaults
Use MCC=10
to change
Acceleration
when FP1.A=0 Use MCC=11
to change
Deceleration
when FP1.A=0
For an "Infinite Length" Axis
* Rotary Table
* Conveyor
FP1 bit0: Set axis type to "Infinite
Length"
FP10: Set R.U. per rotation.
This will be 360 degrees
(converted to R.U.) for a rotary
table.
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