Yaskawa MP2000 Manual do Utilizador descarregar pdf (Página 131)

TECHNICAL NOTE

<RDAINIT1> Input and Output Register Map

Output Registers

The following registers are used as outputs from the function block. They can be

monitored by the LadderWorks program to check the execution of the function.

Output Type Description

RUNNING Bit Goes high while block is updating RDA.

Updating completes in one scan.

Input Registers

The following registers are used as inputs to the function block. They select the options

and define the parameters that the user needs to make the function work as necessary.

Input Type Description Range and state

LINEAR Bit Defines if axis is in linear mode or

rotary mode.

TRUE – axis is linear

FALSE – axis is rotary

HARDOT Bit This determines if hard over

travels should be alarmed and

indicated in the RDA. This will

result in SVON block writing to

ErrorID1 (MW3**81)

TRUE – write OT alarm status to

ErrorID1.

FALSE – don’t write OT alarm

status to ErrorID1.

AXISRDA Word Axis number related to the block.

1～16

MAXSPEED Long Maximum speed the axis is

allowed to travel (counts per

second)

1 to 2147483647. The physical

limitations of the motor and

encoder resolution will make this

number smaller.

MAXACCEL Long Maximum acceleration the axis is

allowed to travel (in counts per

second

1 to 2147483647. The physical

limitations of the motor and

encoder resolution will make this

number smaller.

MAXDECEL Long Maximum deceleration the axis is

allowed to travel (in counts per

second

1 to 2147483647. The physical

limitations of the motor and

encoder resolution will make this

number smaller.

MAXJERK Long More accurately defined as the S-

Curve time in milliseconds. The

greater the number the slower to

ramp to the desired acceleration

or deceleration.

1 to 2147483647. The number

may go down based on scan rate.

The smoothest S-Curve allowed is

255 scans if the scan time is 2

millisec. Then the max time will be

MAXJERK = 510 msec

POSPRIOD Long For Rotary mode only. This is the

largest value the axis position can

reach before rolling over to zero.

1 to 2147483647.

File: MP2000_IndividualFunctionDocument_RevC 131/168

Doc Number: eng.MCD.05.101 11/17/2005

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