YASKAWA MP2100 Series, User Manual

Page: 297 / 455

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