Yaskawa MP2000 Series: User's Manual for Motion Programming - Manual (Page 97)

7.2 Motion Module Parameters
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Programming
7.2 Motion Module Parameters
Motion control using motion programs is determined according to the settings of the motion module parameters.
Set the motion module parameters referring to the connected machine before running motion programs.
This chapter describes the minimum settings of motion module parameters required for motion control using
motion programs.
7.2.1 Axis Type Selection
There are two types of position control: Finite length position control for return and other operations that are performed
only within a specified range, and infinite length position control, which is used for moving in one direction only.
Infinite length position control can reset the position to 0 after one rotation, e.g, belt conveyors, or move in one direc-
tion only, without resetting position after one rotation. The axis type selection sets which of these types of position con-
trol is to be used.
The details of the Axis Type Selection are listed in the following table.
7.2.2 Reference Unit
The unit of position reference that is input from a motion program is called a reference unit, and is a pulse, mm,
deg, inch, or
μm . The reference unit is specified in Reference Unit Selection (motion fixed parameter 4).
The minimum reference unit that can be specified is determined by the setting of Number of Digits below Deci-
mal Point (motion fixed parameter 5).
* When “pulse” is selected, the motion fixed parameter 5 (number of digits below decimal point) is invalid.
Parameter Type
Parameter No.
(Register No.)
Name Description
Default
Value
Motion Fixed
Parameters
No. 1, bit 0
Function Selec-
tion Flag 1, Axis
Selection
Specify the position control method for the con-
trolled axis.
0: Finite Length Axis
Set a finite length axis if control is performed
within a limited length or for an axis that uses infi-
nite length control in one moving direction only
without resetting the position every rotation.
1: Infinite Length Axis
Set an infinite length axis for an axis that uses infi-
nite length control while resetting the position
every rotation.
0
No. 10
Infinite Length
Axis Reset Posi-
tion (POSMAX) Set the reset position of the position data when an
infinite length axis has been set for the axis type
using the reference unit.
360000
Motion Fixed Parame-
ter 5: Number of Digits
below Decimal Point
Motion Fixed Parameter 4: Reference Unit Selection
0: pulse 1: mm 2: deg 3: inch 4: μm
0: 0 digits
1 pulse*
1 mm 1 deg 1 inch 1 μ m
1: 1 digits 0.1 mm 0.1 deg 0.1 inch 0.1 μ m
2: 2 digits 0.01 mm 0.01 deg 0.01 inch 0.01 μ m
3: 3 digits 0.001 mm 0.001 deg 0.001 inch 0.001 μ m
4: 4 digits 0.0001 mm 0.0001 deg 0.0001 inch 0.0001 μ m
5: 5 digits 0.00001 mm 0.00001 deg 0.0001 inch 0.00001 μ m
Minimum
reference
unit