Yaskawa MP940 Reference Manual - Manual (Page 510)

MotionSuite™ MP940 Machine Controller Reference Manual Parameters
A-23
21 S-curve
Acceleration
Time OWC014 The S-curve time constant is 0~255 (1 = 1 turn) (0 = 1 = no aver-
aging) when the speed reference output mode and motion com-
mands are disabled in the position control mode.
The S-curve time constant is 0~255 (1 = 1 turn) (0 = 1 = no aver-
aging) and SVB is 0~65535 (1 = 0.1ms) when bits 4~7 of
OWC021 are “2”.
The exponent accel/decel time constant is 0~32767 (1 = 1ms)
and SVB is 0~65535 (1 = 0.1ms) when bits 4~7 of OWC021 are
“1”.
22 Speed
Reference OWC015 -32768~32767
(default = 0) 1 = 0.01% (5000 = 50.00%)
23 Phase
Compensation OLC016
-2
31
~2
31-1
(default = 0)
1 = 1pulse
25 Speed
Compensation OWC018 -32768~32767
(default = 0) 1 = 0.01% (100 = 1.00%)
26 Proportional Gain OWC019 0~32767
(default = 300) 1 = 0.1% (300 = 30.0%)
27 Integral Time OWC01A 0~32767
(default = 300) 1 = 1ms (0 = no integral) (300 = 0.300s)
28 Torque
Reference OWC01B -32768~32767
(default = 0) 1 = 0.01% (10000 = 100.00%)
29 Speed Limit OWC01C -32768~32767
(default = 15000) 1 = 0.01%
(15000 = 150.00%)
31 Pulse
Compensation OLC01E
-2
31
~2
31-1
(default = 0)
1 = 1 pulse
33 Motion
Command Code OWC020 0~65535
(default = 0) 0: NOP No command
1: POSING Positioning
2: EX_POSING External
Positioning
3: ZRET Zero-point return
4: FINTERPOLATE Interpolation
5: ENDOF_
INTERPOLATE Interpolation Final
Segment
6: LATCH Interpolation with
Position Detection
Function
7: FEED Set Speed Feed
8: STEP Stepping
9: ZSET Zero-point Setting
10~65535: Unused
Table 8: Setup Parameters (Continued)
No. Name
Register
Number
Setting Range
(Bit Name)
Meaning