Yaskawa Sigma-5 Large Capacity Users Manual: Design and Maintenance-Rotary Motors-Mechatrolink-III Communication Reference - Manual (Page 31)

1.4 Ratings and Specifications
1-9
1
Outline
∗1. Speed regulation by load regulation is defined as follows:
∗2. Set Pn001 to n. 2 if you do not use the dynamic brake.
∗3. Refer to 3.9 Selecting and Connecting a Dynamic Brake Unit for details on dynamic brake units.
∗4. Refer to 3.8 Selecting and Connecting a Regenerative Resistor Unit for details on regenerative resistor unit.
∗5. Implement risk assessment and confirm that the safety requirements of the machine have been met.
1.4.3 MECHATROLINK-III Function Specifications
The following table shows the specifications of MECHATROLINK-III.
Protective Function
Overcurrent, overvoltage, insufficient voltage, overload, regeneration error,
and so on.
Utility Function Gain adjustment, alarm history, JOG operation, origin search, and so on.
Safety Function
Input /HWBB1, /HWBB2: Baseblock signal for power module
Output EDM1: Monitoring status of internal safety circuit (fixed output)
Standards *5
(Application
pending)
EN 954 Category 3, IEC 61508 SIL2
Optional Module Fully-closed module, safety module
(cont’d)
Speed regulation =
No-load motor speed Total load motor speed
Rated motor speed
× 100%
- Rotation
Function Specifications
MECHATROLINK-III
Communication
Communication Pro-
tocol
MECHATROLINK-III
Station Address
03H to EFH (Max. number of stations: 62)
Use the rotary switches S1 and S2 to set the station address.
Baud Rate 100 Mbps
Transmission Cycle
125 μs, 250 μs, 500 μs, 750 μs, and 1.0 ms to 4.0 ms (incre-
ments of 0.5 ms)
Number of Transmis-
sion Bytes
16, 32, or 48 bytes per station
Use the DIP switch S3 to select the number of words.
Reference Method
Control Method
Position, speed, or torque control with MECHATROLINK-
III communication
Reference Input
MECHATROLINK commands (sequence, motion, data set-
ting/reference, monitoring, or adjustment)
Profile
MECHATROLINK-III standard servo profile
MECHATROLINK-II-compatible profile