Yaskawa Sigma-5 User Manual: Design and Maintenance - Rotary Motors MECHATROLINK-III Communications Reference User Manual
Page 369
10 Appendix
10.1.3 MECHATROLINK-III Common Parameters
10-38
26
PnA4C
4
Forward Software Limit
–1073741823
to
1073741823
1 reference unit
1073741823
Immedi-
ately
Machine
Specifica-
tion Related
Parameters
27
PnA4E
4
Reserved (Do not use.)
–
–
0
Immedi-
ately
28
PnA50
4
Reverse Software Limit
–1073741823
to
1073741823
1 reference unit
–1073741823
Immedi-
ately
29
PnA52
4
Reserved (Do not use.)
–
–
0
Immedi-
ately
41
PnA82
4
Speed Unit
*2
0 to 4
–
0
After
restart
Unit System
Related
Parameters
0000H
reference unit/sec
0001H
reference unit/min
0002H
Percentage (%) of rated speed
*3
0003H
min
-1*3
0004H
Max. motor speed/40000000H
*4
42
PnA84
4
Speed Base Unit
(Set the value of “n” used as the
exponent in 10
n
when calculating
the Speed Unit (41).)
*3*4
–3 to 3
–
0
After
restart
43
PnA86
4
Position Unit
0
–
0
After
restart
0000H
reference unit
44
PnA88
4
Position Base Unit
(Set the value of “n” used as the
exponent in 10
n
when calculating
the Position Unit (43).)
0
–
0
After
restart
45
PnA8A
4
Acceleration Unit
–
–
0
After
restart
0000H
reference unit/sec
2
0001H
Not supported
46
PnA8C
4
Acceleration Base Unit
(Set the value of “n” used as the
exponent in 10
n
when calculating
the Acceleration Unit (45).)
4 to 6
–
4
After
restart
47
PnA8E
4
Torque Unit
1 to 2
–
1
After
restart
0000H
Not supported
0001H
Percentage (%) of rated torque
0002H
Max. torque/40000000H
*5
48
PnA90
4
Torque Base Unit
*5
(Set the value of “n” used as the
exponent in 10
n
when calculating
the Torque Unit (47).)
–5 to 0
–
0
After
restart
∗2. When using fully-closed loop control, set 0000H (Reference unit/sec).
∗3. When either 0002H or 0003H is selected for the Speed Unit (parameter 41), set the Speed Base Unit (parameter 42)
to a number between -3 and 0.
∗4. When 0004H is selected for the Speed Unit (parameter 41), set the Speed Base Unit (parameter 42) to 0.
∗5. When 0002H is selected for the Torque Unit (parameter 47), set the Torque Base Unit (parameter 48) to 0.
Note: When using parameters that are enabled after restarting the SERVOPACK, a CONFIG command must be input or
the power must be turned OFF and then ON again.
(cont’d)
Parameter
No.
Size
Name
Setting Range
Units
[Resolution]
Factory
Setting
When
Enabled
Classifica-
tion