Yaskawa MP920 Motion Module - Manual (Page 215)

5.4 SVA-01A and SVA-02A Parameters
5-73
5
19 Position Refer-
ence Setting
(XREF) or
Position Buffer
Number OL††12
-2 31 to 2 31 -1
Set the position reference. The meaning of the setting
data depends on OB††01C: Position Reference Selec-
tion and OB††01E: Position Reference Type.
Explanation
„ Using OL††12 as Position Reference for Absolute
Position Reference Method
OB††1C = 0: Directly specified
OB††1E = 0: Absolute position reference
„ Using OL††12 as Position Reference for Add Dif-
ference Method
OB††1C = 0: Directly specified
OB††1E = 1: Add difference
„ Using OL††12 as Position Reference for Add Dif-
ference Method
OB††1C = 1: Indirectly specified
OB††1E = 0: Absolute position reference
Setting 1 causes setting parameter error.
Refer to Position Reference of 2.3.1 Prerequisites for
Position Control.
0
21 Filter Time
Constant Set-
ting (NNUM) OW††14 1. Average
move filter 0
to 255
(0 = 1 = no
filter)
2. Exponential
acceleration
speed
0 to 32767
Set this parameter when performing simple S-curved
acceleration/deceleration in speed reference output or
position control mode.
„ Speed Reference Output Mode
Calculates the average move for the speed reference
(Vr) and makes that value the speed reference.
„ Position Control Mode
Calculates the average move for the clear pulse (p)
every scan and makes that value the position reference.
Averaging will not be calculated in the following situa-
tions.
• When switching during operation to Speed or Position
Control Mode
• When the average number is changed during opera-
tion
„ OW††20: Motion Command Code Used in Posi-
tion Control Mode
The setting range for the filter time constant will vary
with bit 4 to bit 7 of OW††21: Filter Type Selection.
• Filter type 1 = Exponential filter 0 to 32767
• Filter type 2 = Average move filter 0 to 255
Note: This parameter will be valid when IB††152:
Distribution Completed turns ON if the filter
time constant is changed.
0
Table 5.6 Motion Setting Parameters (cont’d)
No. Name Register
Number
Setting Range/
Bit Name
Description Factory
Setting