Yaskawa MP920 Motion Module User Manual
Page 338
7 PO-01 Module Specification and Handling
7.3.1 Motion Fixed Parameters
7-36
31
Zero Point Return
Method
(ZRETSEL)
Set the zero point return method when returning to the zero point (ZRET) using
OW20: Motion Command Code.
2: DEC1 + ZERO signal
4: DEC2 + ZERO signal
5: DEC1 + LMT + ZERO signal
Refer to Zero Point Return Method on the next page for details.
0
(DEC1 +
ZERO
signal)
32
Not used.
−
−
33
Number of Pulses
Per Motor Revolu-
tion (For simulation)
(MPPS)
Set the number of reference pulses per pulse motor revolution.
Set this parameter according to the specifications of the pulse motor and pulse
motor driver.
200
35
Bias Speed
(BIASSPD)
Set the bias speed for linear acceleration/deceleration with bias.
Set 0 when using linear acceleration/deceleration without bias.
0
36
Bias Speed for the
Exponential Acceler-
ation/Deceleration
Filter (EXPBIAS)
Set the bias speed for exponential acceleration/deceleration with bias.
0
37
Pulse Output Signal
Form Selection
(POSEL)
Set the polarity and output method of pulse signals output by the PO-01 Module.
Bits 0 to 7
Not used.
−
0
Bit 8
Pulse Output Signal
Polarity Selection
(ABPOSEL)
Set positive logic (= 0) or negative logic (= 1) as the polar-
ity of pulse signals that the PO-01 Module outputs to the
Pulse Motor Driver.
0: Positive logic, 1: Negative logic
Set this bit according to the specifications of the Pulse
Motor Driver.
0
(Positive
logic)
Bits 9 to 11
Not used.
−
0
Bits 12 to 15
Pulse Output Method
Selection
(POUTMODE)
Set CW/CCW mode (= 0) or sign mode (= 1) as the output
method of pulse signals that the PO-01 Module outputs to
the Pulse Motor Driver.
0: CW/CCW mode
1: Sign mode
Set this bit according to the specifications of the Pulse
Motor Driver.
0
(CW/CCW
mode)
38
Maximum Pulse
Output Frequency
(MAXHZ)
Set the maximum frequency of pulse signals that the PO-01 Module outputs to the
Pulse Motor Driver.
Set this bit according to the specifications of the Pulse Motor Driver (such as
pulse width).
Unit: 1 = 10 kHz
Set one of the following values: 1, 2, 4, 5, 8,10, 20, 25, 40, and 50.
Always set the same value for all four axes (including unused axes).
10
(100 kHz)
39 to
48
Not used.
−
−
Table 7.9 Motion Fixed Parameters (cont’d)
No. Name
Description
Factory
Setting