Yaskawa MP940 Reference Manual - Manual (Page 210)

Parameter Details MotionSuite™ MP940 Machine Controller Reference Manual
6-10
16 Simulation Mode 0Bit 0 ~ 1 0: Normal Run Mode
1: Simulation Mode 0
(Normal
Run)
17 Servo Axis
Functionality Selects whether each function is enabled/disabled during
motion command use.
Bit 0~3 Command Unit
Selection
(CMD_UNIT) Select the input command units.
0:pulse(electronic gearing disabled)
1: mm
2: deg
3: inch
Set a number between 0~3.
Minimum command unit is determined by
this command unit selection as well as fixed
motion parameter No. 18 Decimal Place. 0
(pulse)
Bit 4 Electronic Gear-
ing Selection
(USE_GEAR) Selects whether electronic gearing is
enabled.
0:Disabled1:Enabled
When there is a Command Unit Selection
pulse, electronic gearing is disabled even
though this flag is enabled. 0
(disabled)
Bit 5 Axis Selection
(PMOD_SEL) Linear Axis/Rotary Axis
Set whether the control axis ha a motion
limit.
0:Linear Axis
This is an axis with a motion limit.
_ Soft limit function enabled.
1:Rotary Axis
This is an axis without a motion limit.
_ Soft limit function disabled 0
(Linear
Axis)
Bit 6 Backlash Com-
pensation
Selection
(USE_BKRSH) Selects whether backlash compensation is
executed.
0: Disabled; 1: Enabled 0
(Disabled)
Bit 7 Soft Limit
(Forward)
Selection
(USE_SLIMP) Selects whether a positive soft limit is used
during motion command (OWC020) usage.
0: Disabled; 1: Enabled
Set the soft limit value with fixed parameter
27.
The soft limit function is enabled after the
timing becomes the zero point return com-
pletion state (IBC0156 is ON). 0
(Disabled)
Fixed Parameters (Continued)
Number Name Content
Default
Value