Yaskawa MP920 Motion Module - Manual (Page 69)

2.3 Position Control
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2
* Valid only with an SVA-02A Module.
3. Select the Position Control Mode (PCON) (bit 2 of OW †† 00).
4. To start operation, set the RUN Servo ON (RUN) to ON (bit 0 of OW †† 01).
The axis is positioned according to the specified motion parameters.
Even during positioning, the motion parameter settings can be changed.
5. To stop position control, set the RUN command (RUN) and the position control mode
(PCON) to OFF.
The POSCOMP Positioning Completed Signal (bit 13 of IW †† 00) turns ON when the
axis enters the positioning completed range. Control continues even when the axis
enters the positioning completed range (the axis enters servo clamp status).
Table 2.20 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 Limiter
Setting (NLIMP) OW††04 0.00 to
327.67 0.01 = 0.01%
1 = 1% 130.00
(130.00%)
Negative Speed Limiter
Setting (NLIMN) OW††05 0.00 to
327.67 0.01 = 0.01%
1 = 1% 130.00
(130.00%)
Machine Coordinate
System Zero Point Offset
Setting (ABSOFF) OL††06
-2
31
to 2
31
-1
1 = 1 reference unit
With pulse: 1 = 1 pulse 100 pulses
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
pattern generation 1000
(1 second)
Positioning Completed
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 32767 1 = 1 reference unit
With pulse: 1 = 1 pulse 65535 pulses
Position Loop Gain Setting
(KP) OW††10 0.0 to 3276.7 0.1 = 0.1 /s
1 = 1 /s
30.0
(30.0 /s)
Filter Time Constant
(NNUM) OW††14 0 to 255 For simple S-curved acceler-
ation 0
Feed Forward Gain
Setting (Kf) OW††11 0 to 200 1 = 1% 0
Position Reference Setting
(XREF) OL††12 -2 31 to 2 31 -1 1 = 1 reference unit
With pulse: 1 = 1 pulse 10000 pulses
Speed Reference Setting
(NREF) OW††15 -327.68 to
327.67 Speed reference value
0.01 = 0.01%
1 = 1% 50.00 (50.00%)