Yaskawa Sigma-5 User Manual: Design and Maintenance - Rotary Motors MECHATROLINK-III Communications Reference - Manual (Page 369)

10 Appendix
10.1.3 MECHATROLINK-III Common Parameters
10-38
26
PnA4C
4 Forward Software Limit
–1073741823
to
1073741823
1 reference unit 1073741823
Immedi-
ately
Machine
Specifica-
tion Related
Parameters
27
PnA4E
4 Reserved (Do not use.) – – 0
Immedi-
ately
28
PnA50
4 Reverse Software Limit
–1073741823
to
1073741823
1 reference unit –1073741823
Immedi-
ately
29
PnA52
4 Reserved (Do not use.) – – 0
Immedi-
ately
41
PnA82
4
Speed Unit *2 0 to 4 –
0
After
restart
Unit System
Related
Parameters
0000H reference unit/sec
0001H reference unit/min
0002H Percentage (%) of rated speed *3
0003H min -1*3
0004H Max. motor speed/40000000H *4
42
PnA84
4
Speed Base Unit
(Set the value of “n” used as the
exponent in 10
n
when calculating
the Speed Unit (41).)
*3*4
–3 to 3 – 0
After
restart
43
PnA86
4
Position Unit 0 –
0
After
restart
0000H reference unit
44
PnA88
4
Position Base Unit
(Set the value of “n” used as the
exponent in 10
n
when calculating
the Position Unit (43).)
0 – 0
After
restart
45
PnA8A
4
Acceleration Unit – –
0
After
restart
0000H reference unit/sec
2
0001H Not supported
46
PnA8C
4
Acceleration Base Unit
(Set the value of “n” used as the
exponent in 10
n
when calculating
the Acceleration Unit (45).)
4 to 6 – 4
After
restart
47
PnA8E
4
Torque Unit 1 to 2 –
1
After
restart
0000H Not supported
0001H Percentage (%) of rated torque
0002H Max. torque/40000000H *5
48
PnA90
4
Torque Base Unit
*5
(Set the value of “n” used as the
exponent in 10
n when calculating
the Torque Unit (47).)
–5 to 0 – 0
After
restart
∗2. When using fully-closed loop control, set 0000H (Reference unit/sec).
∗3. When either 0002H or 0003H is selected for the Speed Unit (parameter 41), set the Speed Base Unit (parameter 42)
to a number between -3 and 0.
∗4. When 0004H is selected for the Speed Unit (parameter 41), set the Speed Base Unit (parameter 42) to 0.
∗5. When 0002H is selected for the Torque Unit (parameter 47), set the Torque Base Unit (parameter 48) to 0.
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.
(cont’d)
Parameter
No.
Size Name Setting Range
Units
[Resolution]
Factory
Setting
When
Enabled
Classifica-
tion