Yaskawa MP2200 Machine Controller - Manual (Page 112)

3 Motion Module Setup
3.2.4 Servo Parameter Settings
3-40
[ b ] SGDB
[ c ] SGDM and SGDH
■ With a Rotary Motor Connected
SERVOPACK and Motor Specifications SVA-01 Module Fixed Parameter Settings
Rated speed [min -1 ] ÷ Cn-03 (Speed reference gain) × 1000 → No. 23 D/A Output Voltage at 100% Speed
Cn-13 (Torque reference gain) × 0.1 × 1000 → No. 24 D/A Output Voltage at 100% Torque
2000 (fixed value) → No. 26 A/D Input Voltage at 100% Torque Monitor
Servo type Σ-I 0 (fixed value) → No. 28 Servo Drive Selection
Motor type Rotary 0 (fixed value) → No. 29 Motor Type Selection
Encoder
Cn-01, bit F = 0 (INC) 0 (fixed value) →
No. 30 Encoder Selection
Cn-01, bit F = 1 (ABS)
1 (fixed value) or
2 (fixed value)
Reverse
rotation
connection
Cn-02, bit 0 = 0
(Forward)
0 (fixed value) →
No. 31 Rotational Direction of Absolute Encoder
Cn-02, bit 0 = 1
(Reverse)
1 (fixed value)
Rated speed Rotary
Rated speed
[min
-1 ]
→ No. 34 Rated Speed
Encoder
resolution
Rotary
Pulses per motor
revolution (before
multiplication)
[pulse/rev]
→ No. 36 Encoder Resolution (before Multiplication)
99999 (fixed value) → No. 38 Max. Revolutions of Absolute Encoder
SERVOPACK and Motor Specifications SVA-01 Module Fixed Parameter Settings
Pn300 (Speed reference input gain) × 0.01 × 1000 → No. 23 D/A Output Voltage at 100% Speed
Pn400 (Torque reference input gain) × 0.1 × 1000 → No. 24 D/A Output Voltage at 100% Torque
1000 (fixed value) → No. 26 A/D Input Voltage at 100% Torque Monitor
Servo type Σ-II (including Σ-III) 1 (fixed value) →
No. 28 Servo Drive Selection
Motor type Rotary 0 (fixed value) →
No. 29 Motor Type Selection
Encoder
INC 0 (fixed value) →
No. 30 Encoder Selection
For ABS,
Pn002.2 = 0 (ABS) 1 (fixed value)
or 2 (fixed value)
For ABS,
Pn002.2 = 1 (INC)
0 (fixed value)
Reverse
rotation
connection Pn000.0 = 0 (Forward) 0 (fixed value) →
No. 31 Rotational Direction of Absolute Encoder
Pn000.0 = 1 (Reverse) 1 (fixed value)
Rated speed Rotary Rated speed [min −1 ] → No. 34 Rated Speed
Encoder
resolution
Rotary
Pn201 (PG dividing ratio (for
16-bit or less)) or Pn212 (PG
dividing ratio (for 17-bit or
more))
[pulse/rev] →
No. 36
Encoder Resolution (before multiplication)
or Serial Converter Resolution
Multiturn limit
Rotary Pn205 (Multiturn limit setting) →
No. 38 Max. Revolutions of Absolute Encoder
DD motor 0 (fixed value)