Position Control; Motion Parameters For Position Control - YASKAWA JEPMC-MP2300-Y Series User Manual

8 Control Block Diagrams

8.1.1 Motion Parameters for Position Control

8.1 Position Control

8.1.1 Motion Parameters for Position Control
( 1 ) Fixed Parameters
No.
0
1
2
4
5
6
8
9
10
12
14
16
30
34
36
38
42
( 2 ) 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
8-2
: These parameters are ignored.
Name
Run Mode
Function Selection 1
Function Selection 2
Command Unit
Number of Decimal Places
Command Units per Revolution
Gear Ratio (Motor)
Gear Ratio (Load)
Maximum Value of Rotary Counter (POSMAX)
Forward Software Limit
Reverse Software Limit
Backlash Compensation
Encoder Type
Rated Speed
Encoder Resolution
Max. Revolution of Absolute Encoder Turns
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
Secondary Speed Compensation
Speed Override
Position Reference Setting
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
－
0000h
－
0000h
－
0
－
3
－
Reference unit 10000
1
－
1
－
Reference unit 360000
31
Reference unit
2 −1
31
Reference unit
−2
Reference unit 0
0
－
−1
3000
min
pulse 65536
Rev 65534
ms 10
Setting Unit Default Value
0000h
－
0000h
－
0000h
－
0011h
－
0033h
－
0000h
－
0
－
0000h
－
0
－
Depends on torque unit. 0
0.01% 15000
Depends on speed unit. 3000
Depends on torque unit. 30000
Depends on speed unit. 0
0.01% 10000
Reference unit 0
Reference unit 100
Reference unit 0
31
Reference unit
−1
2
ms 0
Reference unit 0
31
Reference unit
−2
31
Reference unit
2 −1
0.1/s 300
Hz 40
0.01% 0
0.01% 0
ms 0
0.01 ms 2000
Depends on acceleration/
0
deceleration speed unit.
Depends on acceleration/
0
deceleration speed 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 to 2 -1
1 to 65535
1 to 65535
31
1 to 2 −1
31 31
−2 to 2 −1
31 31
−2 to 2 −1
31 31
−2 to 2 −1
0 to 3
1 to 32000
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 65535
31 31
−2 −1
to 2
−32768 to 32767
31 31
−2 to 2 −1
31 31
−2 −1
to 2
31 31
−2 to 2 −1
0 to 32767
31 31
−2 −1
to 2
0 to 65535
0 to 65535
31
−1
0 to 2
0 to 65535
31 31
−2 to 2 −1
31 31
−2 to 2 −1
31 31
−2 to 2 −1
0 to 32767
1 to 2000
0 to 32767
−32768 to 32767
0 to 32767
15 to 65535
31
0 to 2 −1
31
0 to 2 −1
0 to 65535
0 to 19
0 to 65535