Yaskawa MP920 Motion Module - Manual (Page 217)

5.4 SVA-01A and SVA-02A Parameters
5-75
5
29 Speed Limit
Setting (NLIM) OW††1C -32768 to 32767 Set the speed limit in 0.01% units in Torque Reference
Output Mode.
D/A output = (OW††16: Speed Limit Setting
× D/A
Output Voltage at 100% Speed (fixed parameter 9)) /
10000
Example:
When the D/A Output Voltage at 100% Speed = 6 V and
the Speed Limit = 150%, then (15000
× 6 V) / 10000 =
9.0 V is output.
Note: Valid only for SVA-02A (2-axis) Module.
150.00
30 Not used. OW††1D Set to “0.” 0
31 Pulse Bias
Setting
(PULBIAS) OL††1E
-2
31
to 2
31
-1
Used in Position Control Mode.
„ Position Control Mode
Set the number of compensation pulses. (1-pulse units)
„ OW††20: Motion Command Code Used in Posi-
tion Control Mode
Set in 1-pulse units when compensating reference
pulses such as with backlash compensation. Compen-
sation will not be performed however if IB††170:
Machine Lock is ON.
0
33 Motion Com-
mand Code
(MCMDCODE) OW††20 0 to 65535 Set the motion command code for the SVA Module. This
parameter can be used under the following conditions.
• Motion Command Selection Used
(bit 7 of fixed parameter no. 14)
• Position Control Mode Selection (OB††002)
• RUN Mode Motion Setting Command Enabled
(OB††008)
Motion Commands
0: NOP (no operation)
1: Positioning (POSING)
2: External positioning (EX-POSING)
3: Zero point return (ZRET)
4: Interpolation (INTERPOLATE)
5: Reserved for system use
6: Interpolation with position detection (LATCH)
7: Feed (FEED)
8: Step (STEP)
9: Zero point setting (ZSET)
0
Table 5.6 Motion Setting Parameters (cont’d)
No. Name Register
Number
Setting Range/
Bit Name
Description Factory
Setting