YASKAWA MP Series User Manual

Appendix H Wild Card Servos
H.3 Link Assignment
A-36
H.3 Link Assignment
Start the MPE720 to open the Link Assignment Tab bed Page in the MECHATROLINK Transmission Definition
Window. Make the settings as shown in the table below in the station where you want to allocate a wild card servo.
 SVB Module operates as though the actual object is true, despite the setting. If “*****SERVO” is set in place of
“SGDS-1” for example, the SVB Module recognizes it as SGDS and operates accordingly.
H.4 Invalid Motion Parameters When Using Wild Card Servos
The following motion parameters are invalid when using wild card servos.
 Fixed Parameters
 Setting Parameters
* Valid only for VELO (Speed Reference) command.
 Monitoring Parameters
TYPE INPUT SIZE OUTPUT SIZE SCAN
*****SERVO Blank Blank Blank Blank HIGH (Fixed)
No. Name Setting Range Default Description
16
Backlash Compensation Amount
-2
31
to 2
31
-1
0 1 = 1 reference unit
29
Motor Type Selection
0: Rotation type motor,
1: Linear motor
0: Rotation
type motor
Register Name
Setting
Range
Default Description
OW03 Function Setting 1
0 or 1
0
Bits 4 to 7: Acceleration/Deceleration
Degree Unit Selection
OW04 Function Setting 2
0 to 14
0
Bits C to F: Bank Selector
OW06 Option Setting
Bit setting
0
Bits A to F: Options for Stepper
OW09 Motion Command Control Flag
Bit setting
0
Bit 3: Zero Point Return Direction Selec-
tion
Bit 4: Latch Zone Effective Selection
OL1E Width of Positioning Completion
0 to 65535
100
1 = 1 reference unit
OL2A Latch Zone Lower Limit Setting
-2
31
to 2
31
-1
0-2
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 = 1.0/s
OW2F Speed Loop Gain
1 to 2000
40
1 = 1 Hz
OW30 Speed Feedforward Amends
0 to 32767
0
1 = 0.01%
OW32 Position Integration Time Constant
0 to 32767
0
1 = 1 ms
OW34 Speed Integration Time Constant
15 to 65535
2000
1 = 0.01 ms
OW36
Straight Line Acceleration/Accelera-
tion Time Constant
*
0 to 2
31
-1
0
1 = 1 reference unit/s
2
, 1 = 1 ms
OW38
Straight Line Deceleration/Decelera-
tion Time Constant
*
0 to 2
31
-1
0
1 = 1 reference unit/s
2
, 1 = 1 ms
OW3A
Filter Time Constant
*
0 to 65535
0
1 = 0.1 ms
OL42 Zero Point Return Travel Distance
-2
31
to 2
31
-1
0
1 = 1 reference unit
OL46
External Positioning Final Travel
Distance
-2
31
to 2
31
-1
0
1 = 1 reference unit
Register Name Setting 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