Yaskawa Σ-V Series AC Servo Drives Rotational Motor MECHATROLINK-II - Manual (Page 283)

9 Appendix
9.1.2 Parameters
9-4
Pn002
2
Application Function Select
Switch 2
0000 to 4113 − 0000 After restart Setup −
Pn006
2
Application Function Select
Switch 6
0000 to 005F − 0002 Immediately Setup 5.1.3
∗1. For details, refer to Σ -V Series User’s Manual MECHATROLINK-II Commands (Manual No.: SIEP S800000 54).
(cont’d)
Parameter
No.
Size Name
Setting
Range
Units
Factory
Setting
When
Enabled
Classification
Reference
Section
4th 3rd 2nd 1st
digit digit digit digit
n.
M-II
MECHATROLINK Command Position and Speed Control Option
Reference
Section
0 The set value of P_TLIM, NTLIM, and TFF are ignored.
*1
1 P_TLIM and NTLIM operate as the torque limit values.
2 TFF operates as the torque feed forward.
3 When P-CL and N-CL in the OPTION field are available, P_TLIM and NTLIM oper-
ate as the torque limit value.
Torque Control Option
Reference
Section
0 V_LIM is not available. –
1 V_LIM 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.
Reserved (Do not change.)
Analog Monitor 1 Signal Selection
00
Motor rotating speed (1 V / 1000 min -1 )
01 Speed reference (1 V / 1000 min -1 )
02 Torque reference (1 V/100% rated torque)
03 Position error (0.05 V/1 reference unit)
04 Position amplifier error (after electronic gears) (0.05 V/ 1 encoder pulse unit)
05 Position reference speed (1 V / 1000 min -1 )
06 Reserved (Do not change.)
07 Reserved (Do not change.)
08 Positioning completion (positioning completed: 5 V, positioning not completed: 0 V)
09 Reserved (Do not change.)
0A Torque feedforward (1 V/100% rated torque)
0B Active gain (1st gain: 1 V, 2nd gain: 2 V)
0C Completion of position reference (completed: 5 V, not completed: 0 V)
0D Reserved (Do not change.)
Reserved (Do not change.)
Reserved (Do not change.)
4th 3rd 2nd 1st
digit digit digit digit
n.