Yaskawa MP940 Reference Manual User Manual
Page 235
MotionSuite™ MP940 Machine Controller Reference Manual
Parameter Details
6-35
34
Motion
Command
Options
Bit 3
No 1-dimension
Lag (LAGRST)
The 1-dimension lag is reset when this bit
is turned ON in the position loop.The
operation is the same as when the 1-
dimensional lag time constant (OWC037)
is set to 0.
This is used in the position control mode
and zero-point return control mode.
0
Bit 4 ~ 7
Filter Type
Selection
(FILTER TYPE)
Selects the accel/decel filter type.
0: No Filter
1: Exponent Accel/Decel Filter
2: Average Motion Filter
The filter time constant (OWC014) is
enabled when set to 1 or 2.
0 (No
Filter)
Bit 8
Position Loop
P/PI
Switching
(POS_PPI)
Sets whether position control is executed
by P control or PI control.
0: P Control
1: PI Control
Used in the position control mode or zero-
point return mode.
0 (P
Control)
Bit 9
Position
Control
Integral Reset
(POS_IRST)
The PI control integral is reset if this bit is
turned ON when using a position loop with
PI control (bit 8 of OWC021).
Used in the position control mode or zero-
point return mode.
0
Bit 10
Speed Com-
pensation dur-
ing Position
Control
(OWC018)
Enabled
(NCOMSEL)
Upon this bit going ON, the data set in the
speed compensation setting (OWC018) is
added to the position loop operation as
the speed compensation amount (1 =
0.01%).
Used in the position control mode or zero-
point return mode.
0
Bit 11
SCMD
SGDH Serial Command Enable Flag
1:Enabled 0:Disabled
0
Bit 12
Zero-point
Return
Reverse Limit
Signal
(LMT_L)
This bit functions as a reverse limit signal
in zero-point return (ZRET).
It is therefore necessary to connect (pro-
gram) an external signal (DI signal inte-
grated into the LIO_01 module, etc.) in the
user program to OBC021C.
0
Bit 13
Zero-point
Return For-
ward Limit
Signal
(LMT_R)
This bit functions as a forward limit signal
in zero-point return (ZRET).It is therefore
necessary to connect (program) an exter-
nal signal (DI signal integrated into the
LIO_01 module, etc.) in the user program
to OBC021C.
0
Other Command/Mode Settings (Continued)
Number
Name
Register
Number
Setting Range
Content
Default
Value