Yaskawa MP920 Motion Module - Manual (Page 133)

4.2 Parameter List by Module
4-13
4
29 Speed Limit
Setting
(NLIM) OW††1C -32768 to 32767
(Default = 15000)
1 = 0.01%
(15000 = 150.00%) − √ − −
30 Speed Loop Gain
(kv) OW††1D 1 to 20000 Set to “0.” − − √ −
31 Pulse Bias
Setting
(PULBIAS) OL††1E
-2
31
to 2
31
-1
(Default = 0)
1 = 0.1 Hz √ √ − √
33 Motion
Command Code
(MCMDCODE) OW††20 0 to 65535
(Default = 0) 0: NOP No operation √ √ √ √
1: POSING Positioning √ √ √ √
2: EX_POSING External position √ √ √ −
3: ZRET Zero point return √ √ √ √
4: INTERPOLATE Interpolation √ √ √ √
5: ENDOF_
INTERPOLATE
Interpolation end
segment √ √ √ √
6: LATCH Interpolation with
latch √ √ √ −
7: FEED Feed √ √ √ √
8: STEP Step √ √ √ √
9: ZSET Zero point setting √ √ √ √
10: ACC Change 1-step lin-
ear acceleration/
deceleration time
constant − − √ −
11: DCC Change decelera-
tion time constant − − √∗ −
12: SCC Change moving
average time con-
stant − − √ −
13: CHG_FILTER Change filter type − − √ −
14: KVS Change speed
loop gain (Kv) − − √ −
15: KPS Change position
loop gain (Kp) − − √ −
16: KFS Change feed
forward (Kf) − − √ −
17: CN_RD Read servo driver
Cn constants − − √ −
18: CN_WR Change servo
driver Cn
constants − − √ −
19: ALM_MON Monitor current
servo driver
alarms − − √ −
Table 4.3 Motion Setting Parameters (cont’d)
No. Name Register
Number
Setting Range/
Bit Name
Meaning Remarks SVA
-01A
SVA
-02 A
SVB
-01
PO-
01