Yaskawa Sigma-5 User Manual: MECHATROLINK-II Commands - Manual (Page 109)

5 Command Related Parameters
5.2.6 Acceleration/Deceleration Parameter High-speed Switching Function
5-20
Setting Example 1: Switching three banks of members Pn80B, Pn80E, and Pn80C
Setting Example 2: Switching two banks of members Pn836, Pn83C, and Pn838
[Application Notes]
1. If Pn900 (Parameter Bank Number) or Pn901 (Parameter Bank Member Number) is set to 0, the bank func-
tion will be disabled.
2. If one parameter is registered for more than one bank member definition, the bank data of the biggest bank
member definition parameter number will be applied.
3. If the bank selector BANK_SEL is not allocated to the function bit of the OPTION field, the data of Bank 0
will be always applied.
4. The acceleration/deceleration parameter high-speed switching function is enabled only while DEN = 1
(Distribution Completed). The parameters will not switch while DEN = 0 (Distributing).
5. In the following cases, error A.04A (parameter setting error 2) will occur when the power supply is turned
ON or CONFIG command is executed.
• One 4-byte parameter is not registered for two bank members.
• The total number of bank data entries exceeds 64 (Pn900 × Pn901 > 64).
6. If a parameter that is not allowed to be a bank member is registered, the bank data of the parameter-regis-
tered member will become invalid.
7. Bank data that exceeds the setting range of the registered bank member parameter will be clamped to a
value within the setting range.
8. If a bank number larger than the bank number set in Pn900 is specified (BANK_SEL1 ≥Pn900), the param-
eter bank will not switch and the currently active bank will be used.
9. Parameters Pn920 to Pn95F will not be saved in the non-volatile memory. Therefore, they must be set each
time the power supply is turned ON.
Pn900 = 3 Bank number
Pn901 = 3 Bank number
Pn902 = 80BH Member 1
Pn903 = 80EH Member 2
Pn904 = 80CH Member 3
Pn920 = 80BH value
Pn921 = 80EH value
Pn922 = 80CH value
Pn923 = 80BH value
Pn924 = 80EH value
Pn925 = 80CH value
Pn926 = 80BH value
Pn927 = 80EH value
Pn928 = 80CH value
Bank 0
Bank 1
Bank 2
Pn900 = 2
Pn901 = 6
Pn902 = 836H
Pn903 = 836H
Pn904 = 83CH
Pn920 = 836H LS word
Pn921 = 836H MS word
Pn922 = 83CH LS word
Pn923 = 83CH MS word
Pn924 = 838H LS word
Pn925 = 838H MS word
Bank 0
Pn905= 83CH
Pn906 = 838H
Pn907 = 838H
Pn926 = 836H LS word
Pn927 = 836H MS word
Pn928 = 83CH LS word
Pn929 = 83CH MS word
Pn92A = 838H LS word
Pn92B = 838H MS word
Bank 1
Bank number
Bank number
Member 1
Member 2
Member 3
Member 4
Member 5
Member 6