3 mechatrolink-iii common parameters, 3 mechatrolink- iii common parameters – Yaskawa Σ-V Series AC Servo Drives Rotational Motor MECHATROLINK-III User Manual
Page 315
9.1 List of Parameters
9-33
9
Ap
pend
ix
9.1.3
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 SigmaWin+ 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
Reserved (Do not use.)
–
–
–
–
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)
–
–
–
–
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)
–
–
–
–
0A
PnA14
4
Resolution (read only)
0 to
FFFFFFFFH
pulse/rev
–
–
21
PnA42
4
Electronic Gear Ratio (Numerator)
1 to
1073741824
–
1
After
restart
Machine
Specification
Related
Parameters
22
PnA44
4
Electronic Gear Ratio (Denomina-
tor)
1 to
1073741824
–
1
After
restart
23
PnA46
4
Absolute Encoder Origin Offset
–1073741823
to 1073741823
1 reference unit
0
Immedi-
ately
*1
24
PnA48
4
Multiturn Limit Setting
0 to 65535
Rev
65535
After
restart
25
PnA4A
4
Limit Setting
0 to 33H
0000H
0000H
After
restart
Bit 0
P-OT (0: Enabled, 1: Disabled)
Bit 1
N-OT (0: Enabled, 1: Disabled)
Bit 2
Reserved
Bit 3
Reserved
Bit 4
P-SOT (0: Disabled, 1: Enabled)
Bit 5
N-SOT (0: Disabled, 1: Enabled)
Bit 6
Reserved
Bit
7 to 31
Reserved
∗1.
Available after the SENS_ON command is input.
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.