Yaskawa MP2000 - Manual (Page 131)

TECHNICAL NOTE
<RDAINIT1> Input and Output Register Map
Output Registers
The following registers are used as outputs from the function block. They can be
monitored by the LadderWorks program to check the execution of the function.
Output Type Description
RUNNING Bit Goes high while block is updating RDA.
Updating completes in one scan.
Input Registers
The following registers are used as inputs to the function block. They select the options
and define the parameters that the user needs to make the function work as necessary.
Input Type Description Range and state
LINEAR Bit Defines if axis is in linear mode or
rotary mode. TRUE – axis is linear
FALSE – axis is rotary
HARDOT Bit This determines if hard over
travels should be alarmed and
indicated in the RDA. This will
result in SVON block writing to
ErrorID1 (MW3**81) TRUE – write OT alarm status to
ErrorID1.
FALSE – don’t write OT alarm
status to ErrorID1.
AXISRDA Word Axis number related to the block. 1～16
MAXSPEED Long Maximum speed the axis is
allowed to travel (counts per
second) 1 to 2147483647. The physical
limitations of the motor and
encoder resolution will make this
number smaller.
MAXACCEL Long Maximum acceleration the axis is
allowed to travel (in counts per
second
2)
1 to 2147483647. The physical
limitations of the motor and
encoder resolution will make this
number smaller.
MAXDECEL Long Maximum deceleration the axis is
allowed to travel (in counts per
second
2)
1 to 2147483647. The physical
limitations of the motor and
encoder resolution will make this
number smaller.
MAXJERK Long More accurately defined as the S-
Curve time in milliseconds. The
greater the number the slower to
ramp to the desired acceleration
or deceleration. 1 to 2147483647. The number
may go down based on scan rate.
The smoothest S-Curve allowed is
255 scans if the scan time is 2
millisec. Then the max time will be
MAXJERK = 510 msec
POSPRIOD Long For Rotary mode only. This is the
largest value the axis position can
reach before rolling over to zero. 1 to 2147483647.
File: MP2000_IndividualFunctionDocument_RevC 131/168
Doc Number: eng.MCD.05.101
11/17/2005