Yaskawa Sigma-5 Large Capacity Users Manual: Design and Maintenance-Rotary Motors-Mechatrolink-III Communication Reference - Manual (Page 391)

10 Appendix
10.1.3 MECHATROLINK-III Common Parameters
10-42
81
PnB02
4
Exponential Function Accel/Decel
Time Constant
0 to 510000
μs
[0.1 ms]
0
Immedi-
ately
*6
Command
Related
Parameters
82
PnB04
4 Movement Average Time 0 to 510000
μs
[0.1 ms]
0
Immedi-
ately *6
83
PnB06
4
Final Travel Distance for External
Positioning -1073741823 to
1073741823
1 reference unit 100
Immedi-
ately
84
PnB08
4 Homing Approach Speed
0 to
3FFFFFFFH
10
-3
min
-1
5000
Value
converted
reference/s
into 10
-3
min
-1
Immedi-
ately
85
PnB0A
4 Homing Creep Speed
0 to
3FFFFFFFH
10
-3
min
-1
500
Value
converted
reference/s
into 10
-3
min
-1
Immedi-
ately
86
PnB0C
4 Final Travel Distance for Homing
-1073741823 to
1073741823
1 reference unit 100
Immedi-
ately
87
PnB0E
4
Monitor Selection 1 0 to F –
1
Immedi-
ately
0000H APOS
0001H CPOS
0002H PERR
0003H LPOS1
0004H LPOS2
0005H FSPD
0006H CSPD
0007H TRQ
0008H ALARM
0009H MPOS
000AH Reserved (Undefined value)
000BH Reserved (Undefined value)
000CH CMN1 (Common monitor 1)
000DH CMN2 (Common monitor 2)
000EH OMN1 (Optional monitor 1)
000FH OMN2 (Optional monitor 2)
88
PnB10
4
Monitor Selection 2 – –
0
Immedi-
ately
0000H
to
000FH
Same as Monitor Selection 1.
∗6. Change the setting when the reference is stopped (DEN is set to 1), because the change will affect the output during
operation.
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