Yaskawa JAPMC-MC2300 - Manual (Page 93)

5.4 MP2000 Series Machine Controller Parameter Details
5.4.1 Motion Fixed Parameter Details
5-21
5
Motion Parameters
( 6 ) Software Limits
Outline of Software Limit
The software limit function is enabled only after completing a Zero Point Return or Zero Point Setting operation
(IW
0C, bit 5 is ON).
For details, refer to 11.3 Software Limit Function on page 11-13.
( 7 ) Backlash Compensation
No. 12
Positive Software Limit Value Setting Range Setting Unit Default Value
−2 31 to 2 31 −1 user units 2 31 −1
Description
Set the position to be detected for the software limit in the positive direction at the Machine Controller.
If an axis attempts to move in the positive direction past the position set here, a positive direction software limit alarm
(IL
04, bit 3) will occur.
Enabled when the Soft Limit (Positive Direction) bit (fixed parameter 1, bit 1) is set to 1 (enabled).
No. 14
Negative Software Limit Value Setting Range Setting Unit Default Value
−2 31 to 2 31 −1 user units −2 31
Description
Set the position to be detected for the software limit in the negative direction at the Machine Controller.
If an axis attempts to move in the negative direction past the position set here, a negative direction software limit alarm
(IL
04, bit 4) will occur.
Enabled when the Soft Limit (Negative Direction) bit (fixed parameter 1, bit 2) is set to 1 (enabled).
Bit 1 0: Disabled
1: Enabled
Negative
Software Limit
Positive
Software Limit
Range of machine movement
No. 1: Function Selection Flag 1
Bit 2 0: Disabled
1: Enabled
No. 1: Function Selection Flag 1
No. 16
Backlash Compensation Amount Setting Range Setting Unit Default Value
−2 31 to 2 31 −1 user units 0
Description
Set the backlash compensation in reference units. Backlash compensation can not be performed by setting this
parameter to 0.
The backlash compensation is performed in the reverse direction of "Zero Point Return Direction Selection (setting
parameter OW
09, bit 3)".
The backlash compensation is always performed in the direction determined by the setting of Zero Point Return Direction
no matter if the zero point return method or zero point setting method that does not use the parameter "Zero Point Return
Direction Selection" is selected.
Note that the backlash compensation method of SVA-01 Module is slightly different from that of SVB Module.
<Backlash Compensation Method>
Reference position
Compensation
Backlash Compensation Amount
in fixed parameter 16
Travels opposite of
Zero Point Return
Direction.
Machine
Machine
Motor axis
Motor axis
Zero Point Return
Direction
Reference position