YASKAWA MP2000 Series User Manual page 98

( 2 ) Mode 1
OW01
Mode Setting 1
Excessive Deviation Error Level Setting
Set whether excessively following errors are treated as warnings or as alarms.
0: Alarm (default): Axis stops operating when an excessively following error is detected.
1: Warning: Axis continues to operate even if an excessively following error is detected.
When the absolute value of deviation amount > 40000000H, Excessive Deviation alarm (IW04, bit 9) will
Bit 0
occur and the execution of motion command will be ended in error regardless of the setting of this bit.
 Related Parameters
OL22: Error Count Alarm Detection
IL02, bit 0: Warning (Excessive Deviation)
Description
IL04, bit 9: Alarm (Excessive Deviation)
Speed Compen. in Pos. Mode
Set whether or not to enable the speed compensation during position control.
0: Disabled (default)
1: Enabled
Bit 2
Setting this bit to 1 (Enabled) will validate the following two speed compensation values.
OW31: Speed compensation
OL16: Secondly speed compensation
( 3 ) Function 1
OW03
Function Setting 1
Speed Unit Selection
Set the unit for speed references.
0: Reference unit/s
Bit 0 to 1: 10
Bit 3
2: 0.01%
3: 0.0001%
Acceleration/Deceleration Unit Selection
Set whether to specify acceleration/deceleration rates (reference unit/s
Bit 4 to
stants (ms) for acceleration/deceleration commands.
Bit 7
0: Reference units/s
Description
1: ms (default)
Filter Type Selection
Set the acceleration/deceleration filter type.
Bit 8 to
0: Filter none (default)
Bit B
1: Exponential acceleration/deceleration filter
2: Moving average filter
Torque Unit Selection
Set the unit for torque reference as a percentage of rated torque.
0: 0.01% (default)
Bit C to
Bit F 1: 0.0001%
n
reference unit/min (default) (n = number of decimal places/fixed parameter 5)
 Refer to 6.1.5 Speed Reference on page 6-9 for setting examples when also setting of the
combination with the number of digits below the decimal point.
2
 The unit for torque reference indicates the torque reference resolution, but not guarantees the
torque accuracy.
5.4 MP2000 Series Machine Controller Parameter Details
5.4.2 Motion Setting Parameter Details
Setting Range
Phase
Position
−
Speed Torque
Setting Range
Position Phase
−
Speed Torque
2
) or acceleration/deceleration time con-
Setting Unit Default Value
−
0000H
Setting Unit Default Value
−
0011H
5
5-27