Yaskawa MP2200 Machine Controller - Manual (Page 370)

6 Control Block Diagrams
6.1.3 Torque Control
6-14
6.1.3 Torque Control
( 1 ) Motion Parameters for Torque Control
[ a ] Fixed Parameters
No. Name Setting Unit Default Value Setting Range
0 Run Mode − 1 0 to 5
1 Function Selection 1 − 0000h Bit setting
2 Function Selection 2 − 0000h Bit setting
4 Command Unit − 0 0 to 3
5 Number of Decimal Places − 3 0 to 5
6 Command Unit per Revolution Reference unit 10000 1 to 2 31 −1
8 Gear Ratio (Motor) − 1 1 to 65535
9 Gear Ratio (Load) − 1 1 to 65535
10 Maximum Value of Rotary Counter (POSMAX) Reference unit 360000 1 to 2 31 −1
12 Forward Software Limit Reference unit 2 31 −1 −2 31 to 2 31 −1
14 Reverse Software Limit Reference unit −2 31 −2 31 to 2 31 −1
16 Backlash Compensation Reference unit 0 −2 31 to 2 31 −1
29 Motor Type − 0 0, 1
30 Encoder Type − 0 0 to 3
34 Rated Speed min −1 3000 1 to 32000
36 Encoder Resolution pulse 65536 1 to 2 31 −1
38 Max. Revolution of Absolute Encoder Rev 65534 0 to 2 31 −1
42 Feedback Speed Moving Average Time Constant ms 10 0 to 32