YASKAWA MP2100 Series User Manual page 175

7 Motion Parameters
7.2.2 Motion Setting Parameter Details
(20) Position Complete Timeout
Set the time to detect a Positioning Time Over.
If the Positioning Completed bit does not turn ON within the time set here after reference pulses have been distributed dur-
ing position control, a Positioning Time Over alarm (monitoring parameter IB
tioning will not be checked if this parameter is set to 0.
(21) Phase Compensation
Set the phase compensation in reference units for phase reference commands.
Use this parameter to compensate for reference pulses in control systems with lower rigidity or gain.
Refer to 8.25 Phase References (PHASE) for details on phase reference commands.
(22) Latch
Set the range in which the latch signal is valid (position from the zero position) for external positioning.
The set value here is written to the SERVOPACK parameters each time an external positioning command is executed as
long as the latch zone is enabled in the Latch Zone Enabled bit in Motion Command Options (setting parameter OW
bit 4).
The latch zone setting is supported for SGDS SERVOPACKs for MECHATROLINK-II communication only.
Latching area upper limit: Pn820
Latching area lower limit: Pn822
Same as for OL
7-20
Position Complete Timeout
OW 26
Speed
Position Error
Positioning
Time Over
When this time is longer than the Position
Complete Timeout, a Positioning Time Over
alarm will occur.
Phase Compensation
OL 28
Latch Zone Lower Limit
OL 2A
Latch Zone Upper Limit
OL 2C
2A.
Setting Range
0 to 65535
Positioning Completed Width
Setting Range
31 31
−2 to 2 −1
Setting Range
31 31
−2 to 2 −1
Setting Range
31 31
−2 to 2 −1
Position
Phase
Setting Unit
ms
046) will occur. The completion of posi-
Distribution completed
Position Phase
Setting Unit
Reference unit
Position Phase
Setting Unit
Reference unit
Position
Phase
Setting Unit
Reference unit
Speed
Torque
Default Value
0
Speed
Torque
Default Value
0
Speed
Torque
Default Value
31
−2
09,
Speed
Torque
Default Value
31
2 −1