Yaskawa DR2 Sigma Servo - Manual (Page 478)

469
User
Constant
No.
Bit
No.
Setting Factory
Setting
Mode switch
l i
Cn-01 D•C 0•0 0•1 1•0 1•1 0•0
selection
Uses internal
torque reference
as a condition.
(Level setting:
Cn-0C)
Uses speed
reference as a
condition.
(Level setting:
Cn-0D)
Uses
acceleration as a
condition.
(Level setting:
Cn-0E)
Does not use
mode switch
function.
TGON signal
f i i h
E 0 1 0 g
function switch
Uses TGON signal as the motor
running detection signal.
Uses TGON signal as the brake
interlock signal.
Torque
f d f d
F 0 1 0 q
feed-forward
function
Does not use torque feed-forward
function.
Uses torque feed-forward function.
Rotation
di i
Cn-02 0 0 1 0
direction
selection
Defines counterclockwise (CCW)
rotation as forward rotation.
Defines clockwise (CW) rotation as
forward rotation (reverse rotation
mode).
Home position
error
1 0 1 0
error
processing
selection
Detects home position error (when
absolute encoder is used).
Does not detect home position error.
Contact input
d l
2 0 1 0 p
speed control
Does not use contact input speed
control.
Uses contact input speed control.
Reserved 3•4
5
Reserved (not to be set) 0
Reserved 6 0 1 0
Uses 1CN #16 pin as the torque
reference monitor.
Uses 1CN #16 pin as the speed
reference monitor.
Reserved 7 Reserved (not to be set) 0
Motor selection 8 0 1 *
SGM motor SGMP motor
Encoder
l i
9 0 1 0
selection
Incremental encoder Absolute encoder 0
Reserved A Reserved (not to be set) 0
Selection of
speed/torque
B 0 1 0
speed/torque
or position
control mode
Speed/torque control mode selection Not used.
Torque
reference filter
C 0 1 0
reference filter
type Primary Secondary
*
The factory setting depends on the Servopack type as shown below.
Servopack Type Factory Setting
DR2-j 0
DR2-jP 1
D