Moving Mode And Coordinate Settings - YASKAWA S-V Series User Manual

5 Parameter Setting and Functions

5.4.2 Moving Mode and Coordinate Settings

5.4.2 Moving Mode and Coordinate Settings

Use the following parameters to set the moving mode and coordinates.
PnB20
PnB21
PnB23
PnB25
(1) When the Coordinates are the Linear Type
When using the linear type coordinates such as with a ball screw, set PnB20 to 0 and set the forward software
limit (P-LS) in PnB21and the reverse software limit (N-LS) in PnB23.
An error will occur if the positioning target position exceeds one of the software limits. An error will also
occur if +/−INFINITE is set for the target position (POS) in the program table.
If the workpiece reaches a software limit during the JOG command or JOG speed table operation, the motor
will stop at the deceleration set in PnB2B.
If both PnB21 and PnB23 are set to 0, the software limit function will be disabled.
The software limit function is enabled after completion of homing. If, however, PnB31 is set to 0 (no homing),
the software limit function will be enabled when the control power supply is turned ON. The software limit
function will also be enabled as soon as the ZSET serial command is executed.
5-16
Parameter
0
Sets coordinates to linear type.
[Factory setting]
1 Sets coordinates to rotary type. Moving mode is set as shortest path.
Sets coordinates to rotary type. Moving mode is always set as for-
2
ward.
Sets coordinates to rotary type. Moving mode is always set as
3
reverse.
Linear Type (PnB20 = 0): Forward Software Limit (P-LS)
Rotary Type (PnB20 ≠ 0): End Point of Rotational Coordinates
Setting Range
-99999999 to 99999999
Linear Type (PnB20 = 0): Reverse Software Limit (N-LS)
Rotary Type (PnB20 ≠ 0): Starting Point of the Rotational Coordinates
Setting Range
-99999999 to 99999999
Origin (Incremental Encoder)
Absolute Encoder Offset (Absolute Encoder)
Setting Range
-99999999 to 99999999
Reverse Software Limit
(N-LS): PnB23
Meaning
Setting Unit Factory Setting
Reference unit 99999999
Setting Unit Factory Setting
Reference unit -99999999
Setting Unit Factory Setting
Reference unit
Forward Software Limit
Workpiece
(P-LS): PnB21
When Enabled
After restart
When Enabled
After restart
When Enabled
After restart
When Enabled
0 After restart