YASKAWA MP2100 Series User Manual page 297

9 Control Block Diagrams
9.1.1 Position Control
9.1 Motion Control Block Diagrams
9.1.1 Position Control
(1) Motion Parameters for Position Control
(a) Fixed Parameters
No.
0
1
2
4
5
6
8
9
10
12
14
16
29
30
34
36
38
42
(b) Setting Parameters
No.
OW 00
OW 01
OW 02
OW 03
OW 04
OW 05
OW 08
OW 09
OW 0A
OL 0C
OW 0E
OL 10
OL 14
OL 16
OW 18
OL 1C
OL 1E
OL 20
OL 22
OW 26
OL 28
OL 2A
OL 2C
OW 2E
OW 2F
OW 30
OW 31
OW 32
OW 34
OL 36
OL 38
OW 3A
OW 3C
OW 3D
9-2
Name
Run Mode
Function Selection 1
Function Selection 2
Command Unit
Number of Decimal Places
Command Unit per Revolution
Gear Ratio [MOTOR]
Gear Ratio [LOAD]
Maximum Value of Rotary Counter (POSMAX)
Forward Software Limit
Reverse Software Limit
Backlash Compensation
Motor Type
Encoder Type
Rated Speed
Encoder Resolution
Max. Revolutions of Absolute Encoder
Feedback Speed Moving Average Time Constant
Name
Run Commands
Mode 1
Mode 2
Function 1
Function 2
Function 3
Motion Command
Motion Command Options
Motion Subcommand
Torque Reference
Speed Limit at Torque Reference
Speed Reference
Positive Side Limiting Torque Setting at the Speed
Reference
Secondly Speed Compensation
Speed Override
Position Reference Type
Positioning Completed Width
Positioning Completed Width 2
Deviation Abnormal Detection Value
Position Complete Timeout
Phase Compensation
Latch zone lower limit (for external positioning)
Latch zone upper limit (for external positioning)
Position Loop Gain
Speed Loop Gain
Speed Feed Forward Compensation
Speed Amends
Position Integration Time Constant
Speed Integration Time Constant
Linear Acceleration Time
Linear Deceleration Time
S-Curve Acceleration Time
Home Return Type
Home Window
Setting Unit Default Value
−
1
− 0000 h
−
0000 h
− 0
−
3
Reference unit 10,000
− 1
−
1
Reference unit 360,000
Reference unit 31
2 -1
Reference unit 31
-2
Reference unit 0
−
0
−
0
−1 3,000
min
pulse 65,536
Rev 65,534
ms 10
Setting Unit Default Value
− 0000 h
−
0000 h
−
0000 h
− 0011 h
−
0033 h
−
0000 h
− 0
−
0000 h
−
0
Depends on torque unit. 0
0.01% 15,000
Depends on speed unit. 3000
Depends on torque unit. 30,000
Depends on speed unit. 0
0.01% 10,000
Reference unit 0
Reference unit 100
Reference unit 0
Reference unit
31
2 −1
ms 0
Reference unit 0
Reference unit 31
−2
Reference unit 31
−1
2
0.1/s 300
Hz 40
0.01% 0
0.01% 0
ms 0
0.01 ms 2,000
Depends on acceleration/ 0
deceleration unit.
Depends on acceleration/ 0
deceleration unit.
0.1 ms 0
− 0
Reference unit 100
Setting Range
0 to 5
Bit Setting
Bit Setting
0 to 3
0 to 5
31
−1
1 to 2
1 to 65,535
1 to 65,535
31
1 to 2 −1
31 31
−2 to 2 −1
31 31
−2 −1
to 2
31 31
−2 to 2 −1
0 or 1
0 to 3
1 to 32,000
31
1 to 2 −1
31
−1
0 to 2
0 to 32
Setting Range
Bit Setting
Bit Setting
Bit Setting
Bit Setting
Bit Setting
Bit Setting
0 to 26
Bit Setting
0 to 65,535
31 31
−2 to 2 −1
−32768 to 32,767
31 31
−2 to 2 −1
31 31
−2 to 2 −1
3 31
−2 to 2 −1
0 to 32767
31 31
−2 to 2 −1
0 to 65,535
0 to 65,535
31
0 to 2 −1
0 to 65,535
31 31
−2 to 2 −1
31 31
−2 to 2 −1
31 31
−2 −1
to 2
0 to 32,767
1 to 2,000
0 to 32,767
−32,768 to 32,767
0 to 32,767
15 to 65,535
31
0 to 2 -1
31
0 to 2 −1
0 to 65,535
0 to 19
0 to 65,535