Yaskawa MP920 User's Manual Design - Manual (Page 400)

7.2 Parameters for Each Motion Module
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7.2 Parameters for Each Motion Module
This section describes the functions and settings of parameters for each motion module.
7.2.1 Motion Fixed Parameters
Motion fixed parameters are set only once unless there is a configurational, specification, or
other machine-related change. They are set from the Fixed Parameter Setting Window on the
MPE720.
Motion fixed parameters cannot be changed if bit 0 of the RUN command (OW††01) is ON.
Position and other data will be initialized every time a motion fixed parameter is changed.
IMPORTANT
Table 7.2 Motion Fixed Parameters
No. Name Setting Range Meaning Remarks
SVA
-01A
SVA
-02A
SVB
-01
PO-
01
1 Axis Selection
(USESEL) 0 or 1
(Default = 0) 0: Not used selection
1: Use selection
√ √ √ √
2 PG Input Signal
Form Selections
(PGSEL) Bit 0 to 7: Not
used. −
Bit 8: ABPISEL A/B Pulse Input Signal Polar-
ity Selection 0: Positive logic
1: Negative logic
√ √
Bit 9: CPISEL C Pulse Input Signal Polarity
Selection 0: Positive logic
1: Negative logic √ √
Bit 10 to 15: Not
used. −
3 Encoder Selection
(ENCSEL) 0 to 2
(Default = 0) 0: Incremental encoder
1: Absolute encoder
2: Absolute encoder used as an incremental encoder √ √ √
4 Rotation Direction
Selection with an
Absolute Encoder
(DIRINV) 0 or 1
(Default = 0) 0: Forward direction selection
1: Reverse direction selection √ √
5 Pulse Counting
Mode Selection
(PULMODE) 0 to 6
(Default = 6) 0: Sign, × 1 √ √
1: Sign, × 2 √ √
2: Up/down, × 1 √ √
3: Up/down, × 2 √ √
4: A/B mode, × 1 √ √ √
5: A/B mode, × 2 √ √ √
6: A/B mode, × 4 √ √ √
6 Not used. − −
7 Rated Motor
Speed Setting
(NR) 1 to 32000
(Default = 3000) 1 = 1 r/min √ √ √ √