Yaskawa MP920 User's Manual Design User Manual
Page 407
7 Parameters
7.2.2 Motion Setting Parameters
7-12
14 Linear Decelera-
tion Time Con-
stant
(NDEC)
OW 0D 0 to 32767
(Default = 0
1 = 1 ms (300 = 0.300 s)
9
9
9
9
15 Positioning Com-
pleted Range
Setting
(PEXT)
OW 0E 0 to 65535 (abso-
lute value)
(Default = 10)
1 = 1 reference unit
pulse unit: 1 = 1 pulse
9
9
16 Error Count
Alarm Detection
Setting
(EOV)
OW 0F
0 to 65535 (abso-
lute value)
(Default = 0)
1 = 1 pulse
(0 = No error detected)
9
9
17 Position Loop
Gain Setting
(kp)
OW 10
0 to 32767
(Default = 30.0)
1 = 0.1/s (300 = 30.0)
9
9
9
18 Feed Forward
Gain Setting
(kf)
OW 11
0 to 200
(Default = 0)
1 = 1 % (10 = 10 %)
9
9
9
19 Position Refer-
ence Setting
(XREF)
OL 12
−2
31
to 2
31
−1
(Default = 0)
1 = 1 reference unit
pulse units: 1 = 1 pulse
When the position reference value selec-
tion (OB
01C) = 1, position buffer
number (1 to 256)
9
9
9
9
21 Filter Time Con-
stant
(NNUM)
OW 14
Constant during Position Control Mode and S-curved (moving
average) movement with the Speed Reference Output Mode and
motion command disabled.
0 to 255 (1 = 1 time) (0 = 1 = No averaging)
9
9
Constant during S-curved (moving average) movement when
bits 4 to 7 at OW
21 are set to 2.
0 to 255 (1 = 1 time) (0 = 1 = No averaging)
For SVB Module, 0 to 65535 (1 = 0.1 ms)
9
9
9
9
Constant during exponential acceleration/deceleration when bits
4 to 7 at OW
21 are set to 1.
0 to 32767 (1 = 1 ms)
For SBV Module, 0 to 65535 (1 = 0.1 ms)
9
9
9
9
22 Speed Refer-
ence Setting
(NREF)
OW 15
−32768 to 32767
(Default = 0.00)
1 = 0.01 % (5000 = 50.00 %)
9
9
9
9
23 Phase Bias Set-
ting
(PHBIAS)
OL 16
−2
31
to 2
31
−1
(Default = 0)
1 = 1 pulse
9
9
25 Speed Compen-
sation Setting
(NCOM)
OW 18
−32768 to 32767
(Default = 0.00)
1 = 0.01 % (100 = 1.00 %)
9
9
26 Proportional Gain
Setting
(Pv)
OW 19
0 to 32767
(Default = 30.0)
1 = 0.01 % (300 = 30.0)
9
9
27 Integral Time
Setting
(Ti)
OW 1A 0 to 32767
(Default = 300)
1 = 1 ms (0 = No integration)
(300 = 0.300s)
9
9
Table 7.3 Motion Setting Parameters (cont’d)
No.
Name
Register
No.
Setting Range
Meaning
Remarks
SVA-
01A
SVA-
02A
SVB
-01
PO-
01