Yaskawa MP920 Motion Module - Manual (Page 66)

2 Motion Control
2.3.1 Prerequisites for Position Control
2-40
Table 2.18 shows some examples of the parameter settings.
* 1. Select Enabled (= 1) in bit 9 (override selection) of motion fixed parameter No. 17.
* 2. “4” is the pulse multiplier.
Parameter Setting Examples
1. Speed Reference Value Selection Set to “0”
a) Pulses Selected as the Unit
When you wish to perform operations with the fixed parameters set for a rapid
traverse speed of 1,500 min -1 , an approach speed of 300 min -1 , and a creep speed of
150 min
-1
, use the following settings.
• OW††0A = 30 (min
-1
) × 2,048 × 4 (ppr) ÷ 1,000 = 2,457 (= 2,457,000 ppm)
• OW††0B = 150 (min -1 ) × 2,048 × 4 (ppr) ÷ 1,000 = 1,228 (= 1,228,000 ppm)
• OW††15 = − (Invalid)
• OL††22 = 1,500 (min
-1
) × 2,048 × 4 (ppr) ÷ 1,000 = 12,288 (= 12,288,000
ppm)
• OW††2C = 10,000 (100%)
b) Millimeters Selected as the Unit
When you wish to perform operations with the fixed parameters set for a rapid
traverse speed of 900 mm/min, an approach speed of 180 mm/min, and a creep speed
of 90 mm/min in a machine configuration that moves the axis 10 mm in one rotation,
use the following settings.
• OW††0A = 180
• OW††0B = 90
• OW††15 =
− (Invalid)
• OL††22 = 900
Table 2.18 Parameter Setting Examples
Parameter Type Parameter No.
(Register No.)
Name Description Initial Value
Motion Fixed
Parameters No.5 Pulse Counting Mode
Selection No. 5 = A/B mode, × 4
No. 7 = 3,000 min -1
No. 8 = 2,048 p/r
Therefore,
Rated speed = 3,000 min
-1
= 3,000 ×2,048 ×4 *2
= 2,575,000 ppm
Various parameter setting
examples are given below.
A/B mode ( ×4)
No.7 Rated Motor Speed
Setting 3000
No.8 Number of Feedback
Pulses Per Rotation 2048
Motion Setting
Parameters Bit 13 of
OW††01 Speed Reference Value
Selection 0
OW††0A Approach Speed Setting 0
OW††0B Creep Speed Setting 0
OW††15 Speed Reference Setting 0
OL††22 Rapid Traverse Speed 0
OW††2C
Override
*1 100%