Yaskawa MP920 Motion Module - Manual (Page 39)

2.2 Control Modes
2-13
2
1. Set the motion fixed parameters according to the user’s machine.
Table 2.3 shows the related parameters when the torque reference output mode is used.
* 1. Valid only with an SVB-01 Module.
* 2. Valid only with an SVA-02A Module.
2. Set the motion parameters to be used in the torque reference output mode.
3. Select the Torque Reference Output Mode (TCON) (bit 1 of OW††00).
4. To start operation, set the RUN Servo ON (RUN) to ON (bit 0 of OW††01).
The torque reference and the speed limit reference will be output for the axis according
to the specified motion parameters.
Even while the torque reference output mode is being selected, the motion parameter
settings can be changed.
5. To stop operation, set the RUN command (RUN) and the torque reference output mode
(TCON) to OFF.
Table 2.3 Examples of Fixed Parameters
No. Name Setting Range Meaning Setting
Example
7 Rated Motor Speed Setting 1 to 32000 Rated motor speed
3000 min -1
8 Number of Feedback Pulses per
Motor Rotation 4 to 65532 Number of pulses
before multiplication 2048
9 D/A Output Voltage at 100%
Speed 0.001 to 10.000 0.001 = 0.001 V
1 = 1 V 6.000 V
Number of Feedback Pulses per
Motor Rotation
(For high-resolution)
*1
4 to 2147483647 1 = 1 pulse/rev 2048 pulses/
rev
10 D/A Output Voltage at 100%
Torque Limit
*2
0.001 to 10.000 0.001 = 0.001 V
1 = 1 V 3.000 V
Table 2.4 Examples of Setting Parameters
Name Register No. Meaning Setting
Example
Torque Reference
Setting (TREF) OW††1B Sets the torque reference value at
0.01%. 50.00
(50.00%)
Speed Limit Setting
(NLIM) OW††1C Sets the speed limit value at 0.01%. 50.00
(50%)