Yaskawa Sigma-5 Large Capacity Users Manual: Design and Maintenance-Rotary Motors-Mechatrolink-III Communication Reference - Manual (Page 353)

10 Appendix
10.1.2 Parameters
10-4
Pn002
2
Application Function Select
Switch 2
0000 to 4113 − 0011 After restart Setup − −
∗1. For details, refer to Σ -V Series User’s Manual MECHATROLINK-III Standard Servo Profile Commands (No.: SIEP
S800000 63).
(cont’d)
Parameter
No.
Size Name
Setting
Range
Units
Factory
Setting
When
Enabled
Classi-
fication
Profile
Reference
Section
∗The mode will be switched to semi-closed position control if Pn002.3 is set to 0.
MECHATROLINK Command Position and Speed Control Option
Reference
Section
0 Reserved (Do not set.)
*1
1 TLIM operates as the torque limit values.
2 Reserved (Do not set.)
3 Reserved (Do not set.)
Torque Control Option
Reference
Section
0 Reserved (Do not set.)
*1
1 VLIM operates as the speed limit value.
Absolute Encoder Usage
Reference
Section
0 Uses absolute encoder as an absolute encoder.
4.7
1 Uses absolute encoder as an incremental encoder.
External Encoder Usage
Reference
Section
0 Do not use external encoder. *
8.3.1
1 Uses external encoder in standard rotation direction.
2 Reserved (Do not set.)
3 Uses external encoder in reverse rotation direction.
4 Reserved (Do not set.)
4th 3rd 2nd 1st
digit digit digit digit
n.