Yaskawa MP920 Motion Module - Manual (Page 204)

5 SVA Module Specifications and Handling
5.4.2 Motion Setting Parameters
5-62
5.4.2 Motion Setting Parameters
„ Supplemental Explanation 1
1. The priority of the OW †† 00: RUN Mode Settings and the OW †† 01: RUN Command
Settings is as follows:
The highest priority control mode will be executed if both turned ON at the same time.
2. If bit 0 of OW †† 01: RUN signal turns OFF during operation, operation will depend on
the Control Mode.
a) Position, Speed, Phase Control, or Zero Point Return Mode
The RUN signal will remain ON from the current speed reference until the machine
decelerates to a stop in accordance with the OW
†† 0D: Linear Deceleration Time
Constant that was set.
• Zero Point Position Offset in the Machine Coordinate System (ABSOFF)
This register contains data used by SVA Modules for position control and the following
movements are affected if this register is set incorrectly. Check to see if the data is set
correctly prior to starting operation.
Obstructions may damage tools and lead to personal injury if this check is not performed.
CAUTION
Table 5.6 Motion Setting Parameters
No. Name Register
Number
Setting Range/
Bit Name
Description Factory
Setting
1 RUN Mode
Settings
(RUNMOD) OW††00 Set the RUN mode, such as Control Mode and Alarm Reset. The bit configuration is
shown below.
0: OFF, 1: ON
Bit 0 Speed Reference
Output Mode
(NCON) Used to set Speed Reference Output Mode. 0
Bit 1 Torque Refer-
ence Output
Mode (TCON) Used to set Torque Reference Output Mode.
Note: Valid only for SVA-02A (2-axis) Module.
0
Bit 2 Position Control
Mode (PCON) Used to set Position Control Mode. 1
Bit 3 Phase Control
Mode (PHCON) Used to set Phase Control Mode. 0
Bit 4 Zero Point
Return Mode
(ZRN) Used to set Zero Point Return Mode. 0
RUN > ZRN > NCON > TCON > PCON > PHCON
High Priority Low Priority