YASKAWA MP Series User Manual

Appendix G Settings when Connecting MECHATROLINK-II Compatible Stepping Motor Drivers
G.4 Restrictions on the Use of Motion Parameters
A-25
Appendices
G.4 Restrictions on the Use of Motion Parameters
When using an M-II Stepper, the specifications of some motion parameters are different from when using servos.
( 1 ) Invalid Parameters When Using an M-II Stepper
 Fixed Parameters
 Setting Parameters
 Monitoring Parameter
No. Name Setting Range Default Description
16
Backlash Compensation Amount
-2
31
to 2
31
-1
0
1 = 1 reference unit
Register Name Setting Range Default Description
OW00 Run Command Setting
Bit setting
0
Bit 4: Latch Detection Demand
Bit 8: Forward Outside Limiting
Torque/Thrust Input
Bit 9: Reverse Outside Limiting
Torque/Thrust Input
Bit B: Integration Reset
OW01 Mode Setting 1
Bit setting
0
Bit 3: Speed Loop P/PI Switch
Bit 4: Gain Switch
OW03 Function Setting 1
0 to 2
0
Bits 8 to B: Filter Type Selection
0 or 1
0
Bits C to F: Torque Unit Selection
OW05 Function Setting 3
Bit setting
0
Bit 1: Phase Reference Creation
Calculation Disable
Bit B: Zero Point Return Input Signal
OW09 Motion Command Control Flag
Bit setting
0
Bit 4: Latch Zone Effective Selection
Bit 6: Phase Compensation Type
OL0C Torque/Thrust Reference Setting
-2
31
to 2
31
-1
0
1 = 0.01% or 0.0001%
OW0E
Speed Limit Setting at the
Torque/Thrust Reference
-32768 to 32767
15000
1 = 0.01%
OL14
Positive Side Limiting Torque/
Thrust Setting at the Speed Ref-
erence
-2
31
to 2
31
-1
30000
1 = 0.01%
OL1E Width of Positioning Completion
0 to 65535
100
1 = 1 reference unit
OL28 Phase Correction Setting
-2
31
to 2
31
-1
0
1 = 1 reference unit
OL2A Latch Zone Lower Limit Setting
-2
31
to 2
31
-1
-2
31
1 = 1 reference unit
OL2C Latch Zone Upper Limit Setting
-2
31
to 2
31
-1
2
31
-1
1 = 1 reference unit
OW2E Position Loop Gain
0 to 32767
300
1 = 0.1/s
OW2F Speed Loop Gain
1 to 2000
40
1 = 1 Hz
OW30 Speed Feed Forward Amends
0 to 32767
0
1 = 0.01%
OW32
Position Integration Time Con-
stant
0 to 32767
0
1 = 1 ms
OW34 Speed Integration Time Constant
15 to 65536
2000
1 = 0.01 ms
OW3A Filter Time Constant
0 to 65535
0
1 = 0.1 ms
OW3C Zero Point Return Method
0 to 19
0
−
Register Name Range Description
IL42 Feedback Torque/Thrust
-2
31
to 2
31
-1
1 = 0.01% or 0.0001%

YASKAWA MP Series Specifications

General

Brand	YASKAWA
Model	MP Series
Category	Controller
Language	English