YASKAWA SVC - Page 98

3.4 Motion Parameter Details
3.4.2 Setting Parameter Details
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Parameters for Motion Control
 Bit 5: Position Reference Type
Set the value of the OL1C setting parameter (Position Reference Setting) to either 0
(Incremental value addition method) or 1 (Absolute value specification method).
0: Incremental value addition method (default).
This method adds the amount to move to the current position reference value and then issues
the reference.
1: Absolute value specification method.
This method is used to set an absolute position.

Bit 6: Electronic Cam Phase Compensation Type
Set the reference method for the OL28 setting parameter (Phase Compensation Setting).
This parameter is valid only when the system is used as an electronic cam (i.e., when bit 1 in
OW05 is 1).
0: Incremental value addition method (default).
1: Absolute value specification method.
Electronic Cam Precautions (When Bit 1 in OW05 Is 1)
• If this parameter is set to 1 (Absolute value specification method), implement measures to
prevent drastic changes in the reference position before you use phase control. If not, the
axis may move abruptly, which is extremely dangerous.
• This parameter can be changed at any time, but do not change this setting during phase
control. The axis may move abruptly, which is extremely dangerous.
Electronic Shaft Precautions (When Bit 1 in OW05 Is 0)
• The increment that is set in the OL28 setting parameter (Phase Compensation Setting)
(i.e., the difference between the previous high-speed scan and the current high-speed scan)
is added to the target position regardless of the setting of this bit.

Bit 8: SERVOPACK Parameter Access Selection
Set whether the common parameters or the vendor-specific parameters for each vendor are
used for the commands.
0: Vendor-specific parameters (default).
1: Common parameters.
Motion Subcommands
 Motion Subcommands
Set the motion subcommand that is used with a motion command.
0: NOP (No Operation)
1: PRM_RD (Read SERVOPACK Parameter)
2: PRM_WR (Write SERVOPACK Parameter)
3: INF_RD (Read Device Information)
4: SMON (Monitor Status)
5: FIXPRM_RD (Read Fixed Parameter)
6: FIXPRM_CHG (Change Fixed Parameter)
Set the OL28 setting parameter (Phase Compensation Setting) to the same value as
that of the IL14 monitor parameter (32-bit DPOS).
Register
Address
Name
Setting
Range
Setting Unit Default Control mode
OW0A
Motion Subcommands
0 to 6 − 0
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Example
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Position
Speed
Phase
Torqu e
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