Yaskawa MP920 Motion Module - Manual (Page 49)

2.2 Control Modes
2-23
2
1. Set the motion fixed parameters according to the user’s machine.
* 1. Valid only with an SVB-01A Module.
* 2. Valid only with an SVA-02A Module.
2. Set the motion parameters.
The following three methods can be used to set the motion setting parameters.
• Using the MPE720 Setting Parameter Window
• Using a ladder logic program
• Using a motion program
Table 2.7 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
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 2.8 Examples of Setting Parameters
Name Register No. Setting
Range
Meaning Setting
Example
Positive Torque Limit
Setting (TLIMP)* OW††02 -327.68 to
327.67 0.01 = 0.01%
1 = 1% -100.00
(-100.00%)
Positive Speed Limit-
er Setting (NLIMP) OW††04 0.00 to
327.67 0.01 = 0.01%
1 = 1% 130.00
(130.00%)
Negative Speed Lim-
iter Setting (NLIMN) OW††05 0.00 to
327.67 0.01 = 0.01%
1 = 1% 130.00
(130.00%)
Zero Point Offset
(ABSOFF) OW††06
-2
31
to 2
31
-1
1 = 1 reference unit
With pulse: 1 = 1 pulse 100 pulses
Approach Speed
Setting (NAPR) OW††0A 0 to 32767 Value (%) for rated speed: 1
= 0.01% 2000
(20.00%)
Creep Speed Setting
(NCLP) OW††0B 0 to 32767 Value (%) for rated speed: 1
= 0.01% 1000
(10.00%)
Linear Acceleration
Time Constant
(NACC) OW††0C 0 to 32767 Linear acceleration time con-
stant (ms) at speed pattern
generation 1000
(1 second)
Linear Deceleration
Time Constant
(NDEC) OW††0D 0 to 32767 Linear deceleration time
constant (ms) at speed pat-
tern generation 1000
(1 second)
Positioning Complet-
ed Range Setting
(PEXT) OW††0E 0 to 65535 1 = 1 reference unit
With pulse: 1 = 1 pulse 10 pulses
Error Count Alarm
Detection Setting
(EOV) OW††0F 0 to 65535 1 = 1 reference unit
With pulse: 1 = 1 pulse 65535 pulses