3 mechatrolink-iii common parameters – Yaskawa Sigma-5 User Manual: Design and Maintenance - Rotary Motors MECHATROLINK-III Communications Reference User Manual
Page 368
10.1 List of Parameters
10-37
10
Ap
pend
ix
10.1.3 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 digital operator 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
Semi-closed/Fully-closed Type
(read only)
0 to 1
–
–
–
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)
-1073741823 to
1073741823
–
–
–
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)
-1073741823 to
1073741823
–
–
–
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
Specifica-
tion 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.