Yaskawa Sigma-5 Large Capacity Users Manual: Design and Maintenance-Rotary Motors-Mechatrolink-III Communication Reference User Manual
Page 378
10.1 List of Parameters
10-29
10
Ap
pend
ix
Pn824
2
Option Monitor 1 Selection
–
–
0000
Immediately
Setup
−
*1
0000H Motor rotating speed
[1000000H/overspeed detection position]
0001H
Speed reference
[1000000H/overspeed detection position]
0002H Torque [1000000H/max. torque]
0003H Position error (lower 32 bits) [reference unit]
0004H Position error (upper 32 bits) [reference unit]
0005H System reserved
0006H System reserved
000AH Encoder count (lower 32 bits) [reference unit]
000BH Encoder count (upper 32 bits) [reference unit]
000CH FPG count (lower 32 bits) [reference unit]
000DH FPG count (upper 32 bits) [reference unit]
0010H Un000: Motor rotating speed [min
-1
]
0011H Un001: Speed reference [min
-1
]
0012H Un002: Torque reference [%]
0013H
Un003: Rotational angle 1 (encoder pulses
from the phase-C origin: decimal display)
0014H Un004: Rotational angle 2 [deg]
0015H Un005: Input signal monitor
0016H Un006: Output signal monitor
0017H Un007: Input position reference speed [min
-1
]
0018H Un008: Position error [reference unit]
0019H Un009: Accumulated load ratio [%]
001AH Un00A: Regenerative load ratio [%]
001BH Un00B: DB resistance consumption power
[%]
001CH Un00C: Input reference counter [reference
unit]
001DH
Un00D: Feedback pulse counter [encoder
pulse]
001EH Un00E: Fully-closed loop feedback pulse
counter [external encoder resolution]
001FH System reserved
0023H Primary multi-turn data [Rev]
0024H Primary incremental data [pulse]
0080H Previous value of latched feedback position
(LPOS) [encoder pulse]
0081H
Previous value of latched feedback position
(LPOS2) [encoder pulse]
M3
*10
0084H Continuous latch status
∗1. For details, refer to
Σ
-V Series User’s Manual MECHATROLINK-III Standard Servo Profile Commands (No.: SIEP
S800000 63).
∗10. This parameter is enabled only for MECHATROLINK-III standard servo profile.
(cont’d)
Parameter
No.
Size
Name
Setting
Range
Units
Factory
Setting
When
Enabled
Classi-
fication
Profile
Reference
Section