Yaskawa AC Drive - A1000 Motion Control Custom - Manual (Page 7)

3 Modifications
YASKAWA TM.A1000SW.117 Motion Control Custom Software Supplement 7
3 Modifications
‹ Changes from Standard Software
• 3-Wire control is not allowed when the motion software is enabled.
• Parameter b1-01 (Reference Source) is only effective when motion control is disabled (P1-01 = 0). When motion
control is enabled, parameter b1-01 is ignored, and the frequency reference originates from the motion control routine.
• Parameters d2-02 and d2-03 are disabled, which fixes the minimum output speed at 0 %.
• Accel and Decel ramp switching via multifunction digital input or via speed sensing is disabled when a move is in
progress. Accel and Decel ramp switch is controlled by the motion software during a move.
‹ Limitations
• The Motion Control algorithm is only available when the drive is in the Flux Vector control method (A1-02 =3).
• Motion control functionality is disabled when the drive is in Local mode or b1-02 = 0.
• The distance from home cannot exceed 10
9 encoder counts.
• The 32 bit position monitor registers should be read using a Read Multiple Memobus command (03h) to ensure that the
data from high and low words are read together for an accurate reporting of position.
• Using the 32 bit position command, the drive can now operate in a position beyond what the digital operator can
display.
• The drive must be re-homed after a PG Open (PGo) fault occurs.
• The maximum number of DWEZ connections has been reduced to 50 connections.