Yaskawa Sigma-5 Large Capacity Users Manual: Design and Maintenance-Rotary Motors-Mechatrolink-III Communication Reference - Manual (Page 393)

10 Appendix
10.1.3 MECHATROLINK-III Common Parameters
10-44
8A
PnB14
4
Monitor Selection for SEL_MON2
(CMN2)
0 to 6 –
0
Immedi-
ately
Command
Related
Parameters
0000H
to
0006H
Same as Monitor Selection for SEL_MON1.
8B
PnB16
4 Origin Detection Range 0 to 250 1 reference unit 10
Immedi-
ately
8C
PnB18
4 Forward Torque Limit 0 to 800 1% 100
Immedi-
ately
8D
PnB1A
4 Reverse Torque Limit 0 to 800 1% 100
Immedi-
ately
8E
PnB1C
4 Zero Speed Detection Range
1000 to
10000000
10
-3
min
-1
20000
Immedi-
ately
8F
PnB1E
4
Speed Coincidence Signal Output
Width (read only)
0 to 100000 10 -3 min -1 10000
Immedi-
ately
90
PnB20
4
Servo Command Control Field
Enabled/Disabled (read only)
– –
0FFF3F3FH –
Bit 0 CMD_PAUSE (1: Enabled)
Bit 1 CMD_CANCEL (1: Enabled)
Bit 2, 3 STOP_MODE (1: Enabled)
Bit 4, 5 ACCFIL (1: Enabled)
Bit 6, 7 Reserved (0: Disabled)
Bit 8 LT_REQ1 (1: Enabled)
Bit 9 LT_REQ2 (1: Enabled)
Bit 10,
11
LT_SEL1 (1: Enabled)
Bit 12,
13
LT_SEL2 (1: Enabled)
Bit 14,
15
Reserved (0: Disabled)
Bit 16 to
19
SEL_MON1 (1: Enabled)
Bit 20 to
23
SEL_MON2 (1: Enabled)
Bit 24 to
27
SEL_MON3 (1: Enabled)
Bit 28 to
31
Reserved (0: Disabled)
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