Yaskawa DR2 Sigma Servo User Manual
Page 485
LIST OF USER CONSTANTS
476
User
Constant
No.
Bit
No.
Setting
Factory
Setting
Error counter
l
i
l
Cn-02
A
0
1
0
clear signal
Clears the error counter when an error
counter clear signal is at high level.
Clears the error counter
when the leading edge of an
error counter clear signal
rises.
Selection of
speed/torque
B
0
1
0
See note 4
speed/torque
or position
control mode
Not used.
Position control mode
See note 4
Torque
reference
C
0
1
0
reference
filter
Primary
Secondary
Reference
l
l i
D
0
1
0
pulse logic
Does not invert reference pulse logic.
Inverts reference pulse
logic.
Position
i
E
0
1
0
error monitor
level
Displays position error Un-08 in x 1
reference units while in monitor mode.
Displays position error
Un-08 in x 100 reference
units while in monitor mode.
Reference
l
fil
F
0
1
0
pulse filter
Line driver
(Maximum reference pulse frequency: 450
kpps)
Open collector
(Maximum reference pulse
frequency: 200 kpps)
: User constants that must be always set
Note
1) Internal speed selection is valid only when bit 2 of Cn-02 is set to “1.”
2) The factory setting depends on the Servopack type as shown below.
Servopack Type
Factory Setting
DR2-j
0
DR2-jP
1
3) At full-closed loop specification, when Cn-01 bit 4 is set to 1, external PG phase-C dis-
connection error is not detected.
4) At full-closed loop specification, factory setting of Cn-02 bit B is 1.
NOTE
For the Cn-01 and Cn-02 memory switches, always turn the power OFF and then ON after
changing the setting. This makes the new setting valid.
D