Yaskawa Sigma-5 Large Capacity Users Manual: Design and Maintenance-Rotary Motors-Mechatrolink-III Communication Reference - Manual (Page 386)

10.1 List of Parameters
10-37
10
Ap
pend
ix
10.1.3 MECHATROLINK-III Common Parameters
The following list shows the common parameters used by all devices for MECHATROLINK-III. These com-
mon parameters are used to make settings from the host controller via MECHATROLINK communications.
Do not change settings with the digital operator or any other device.
Parameter
No.
Size Name Setting Range
Units
[Resolution]
Factory
Setting
When
Enabled
Classifica-
tion
01
PnA02
4
Encoder Type (read only) 0 to 1 – –
–
Device
Information
Related
Parameters
0000H Absolute encoder
0001H Incremental encoder
02
PnA04
4
Motor Type (read only) 0 to 1 – –
– 0000H Rotational servomotor
0001H Linear servomotor
03
PnA06
4
Semi-closed/Fully-closed Type
(read only)
0 to 1 – –
–
0000H Semi-closed
0001H Fully-closed
04
PnA08
4 Rated Speed (read only)
0 to
FFFFFFFFH
min -1 – –
05
PnA0A
4 Maximum Output Speed (read only)
0 to
FFFFFFFFH
min -1 – –
06
PnA0C
4 Speed Multiplier (read only)
-1073741823 to
1073741823
– – –
07
PnA0E
4 Rated Torque (read only)
0 to
FFFFFFFFH
N m – –
08
PnA10
4
Maximum Output Torque (read
only) 0 to
FFFFFFFFH
N m – –
09
PnA12
4 Torque Multiplier (read only)
-1073741823 to
1073741823
– – –
0A
PnA14
4 Resolution (read only)
0 to
FFFFFFFFH
pulse/rev – –
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.