Yaskawa Sigma-5 Large Capacity Users Manual: Design and Maintenance-Rotary Motors-Mechatrolink-II Communication Reference - Manual (Page 358)

10.1 List of Parameters
10-13
10
Ap
pend
ix
Pn210 4 Electronic Gear Ratio (Denominator)
1 to
1073741824
1 1 After restart Setup 4.4.3
Pn212 4 Encoder Output Pulses
16 to
1073741824
1 P/rev 2048 After restart Setup 4.4.5
Pn22A
2
Fully-closed Control
Selection Switch
0000 to 1003 − 0000 After restart Setup −
Pn230
2
Position Control Expanded Function
Switch
0000 to 0001 – 0000 After reset Setup 5.8.6
Pn231 4 Backlash Compensation Value
-500000 to
500000
0.1
reference
unit
0 Immediately Setup 5.8.6
Pn233 2 Backlash Compensation Time Constant 0 to 65536 0.01 ms 0 Immediately Setup 5.8.6
Pn281 2 Encoder Output Resolution 1 to 4096
1 edge/
pitch
20 After restart Setup 8.3.3
Pn304 2 JOG Speed 0 to 10000 1 min -1 500 Immediately Setup 6.3
Pn305 2 Soft Start Acceleration Time 0 to 10000 1 ms 0 Immediately Setup *1
Pn306 2 Soft Start Deceleration Time 0 to 10000 1 ms 0 Immediately Setup *1
∗1. For details, refer to Σ -V Series User’s Manual MECHATROLINK-II Commands (No.: SIEP S800000 54).
(cont’d)
Parameter
No.
Size Name
Setting
Range
Units
Factory
Setting
When
Enabled
Classi-
fication
Reference
Section
Reserved (Do not change.)
Reserved (Do not change.)
Reserved (Do not change.)
Speed Feedback Selection at Fully-closed Control
Reference
Section
0 Uses motor encoder speed.
8.3.8
1 Uses external encoder speed.
4th 3rd 2nd 1st
digit digit digit digit
n.
Backlash Compensation Direction
0 Compensates with a reference in the forward direction.
1 Compensates with a reference in the reverse direction.
Reserved (Do not change.)
Reserved (Do not change.)
Reserved (Do not change.)
4th 3rd 2nd 1st
digit digit digit digit
n.