Yaskawa MP940 Reference Manual - Manual (Page 444)

MotionSuite™ MP940 Machine Controller Reference Manual Position Control
11-47
There are three methods for setting the parameters:
• Setting by the MotionWorks TM “Setting Parameter Screen”
• Setting by ladder program
• Setting by motion program
Note: This parameter is only enabled in SVA-02 modules.
2. Select the position control mode (PCON) (Bit 2 of OWC000).
3. Run start for position control mode (not using motion commands).
Name Register No. Setting Range Meaning Setting Example
Forward Torque Limit
(TLIMP)* OWC002 -327.68 ~ 327.67 0.01 = 0.01
%1 = 1% -100.00
(-100.00%)
Positive Speed Limiter
(NLIMP) OWC004 0.00 ~ 327.67% 0.01 = 0.01
%1 = 1% 130.00
(130.00%)
Negative Speed Limiter
(NLIMN) OWC005 0.00 ~ 327.67% 0.01 = 0.01
%1 = 1% 130.00
(130.00%)
Zero-point Position Offset
(ABSOFF) OLC006
-2 31 ~ 2 31 -1 1 = 1 command unit
During pulse 1 = 1 pulse 100 pulses
Linear Acceleration Time
(NACC) OWC00C 0 ~ 32767 Linear acceleration time
constant at speed
parameter generation
(ms) 1000
(1s)
Linear Deceleration Time
(NDEC) OWC00D 0 ~ 32767 Linear deceleration time
constant at speed
parameter generation
(ms) 1000
(1s)
Positioning Completion
Range Setting
(PEXT) OWC00E 0 ~ 65535 1 = 1 command unit
During pulse 1 = 1 pulse 10 pulses
Deviation Error Detection
Setting
(EOV) OWC00F 0 ~ 32767 1 = 1 command unit
During pulse 1 = 1 pulse 65535 pulses
Position Loop Gain Setting
(KP) OWC010 0.0 ~ 3276.7 0.1 = 0.1/s
1 = 1/s 30.0
(30.0/s)
Filter Time Constant
(NNUM) OWC014 0 ~ 255 For simple S-curve
accel/decel 0
Feed-forward Gain Setting
(Kf) OWC011 0 ~ 200 1 = 1% 0
Position Reference Setting
(XREF) OLC012
-2
31
~ 2
31-1 1 = 1 command unit
If Pulse: 1 = 1 pulse 10000 pulses
Speed Reference
(NREF) OWC015 -327.68 ~ 327.67 Speed Reference
0.01 = 0.01
%1 = 1% 50.00
(50.00%)