Yaskawa MP920 Motion Module - Manual (Page 270)

6.2 SVB-01 Parameters
6-35
6
46 Position
Control Flags
(POSCTRL)
(cont’d) Bits 12 to
15 Servodriver User
Monitoring
Information
Selection
(USRMONSEL) These bits are used to monitor the following position
information in MECHATROLINK servos. The monitor
information is stored in IL††20.
0: Reference position in the reference coordinate system
1: Machine reference position in the machine coordinate
system
2: Position error
3: Feedback position in the machine coordinate system
4: Counter latch position in the machine coordinate
system
5: Internal reference position in the reference coordinate
system
6: Internal reference position in the reference coordinate
system
7: Not used.
8: Feedback speed
9: Reference speed
A: Final target reference position
B: Torque reference
C: Not used.
D: Not used.
E: Option monitor 1
F: Option monitor 2
0
47 Workpiece Co-
ordinate
System Offset
(OFFSET) OL††2E
-2 31 to 2 31 -1
Always set this parameter to “0.” It is used by the system. 0
49 Preset Num-
ber of POS-
MAX Turns
Data
(TURNPRS) OL††30
-2 31 to 2 31 -1
IL††1E: POSMAX Number of Turns can be preset with
preset data by turning ON OB††2D1: Request for Pre-
set Number of POSMAX Turns.
It is used in situations such as when resetting the number
of turns to “0.” 0
51 Second In-
position Width
(INPWIDTH) OW††32 0 to 65535 Set the range where bit 2 of IW††17: Second In-posi-
tion Completed will turn ON. This bit turns ON if the dif-
ference between the reference position and the feedback
position is within the specified range when IB††152:
Distribution Completed turns ON. 0
52 Zero Point
Position Out-
put Width
(PSETWIDTH) OW††33 0 to 65535 Set the zero point position range. IB††171: Zero Point
Position will turn ON if 0
≤ |IL††18: Reference Posi-
tion in Machine Coordinate System| ≤ Zero Point Posi-
tion Output Width when IB††156: Zero Point Return
Completed Status turns ON.
10
53 Positioning
Completed
Check Time
(PSETTIME) OW††34 0 to 65535 Set limits for detecting bit 6 of IL††22: Positioning
Time Over in 1 = 1 ms. A positioning time over alarm
will be generated if bit 13 of IW††00: Positioning Time
Completed Signal does not turn ON when this range is
exceeded after bit 2 of IW††15: Distribution Com-
pleted turns ON.
The completion of positioning will not be checked if this
parameter is set to “0.” 0
Table 6.3 Motion Setting Parameters (cont’d)
No. Name Register
Number
Setting Range/
Bit Name
Description Factory
Setting