Yaskawa Sigma-5 User Manual: Design and Maintenance - Rotary Motors - MECHATROLINK-II Communications Reference - Manual (Page 334)

10 Appendix
10.1.2 Parameters
10-4
Pn002
2
Application Function Select
Switch 2
0000 to 4113 − 0000 After restart Setup −
∗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
Classification
Reference
Section
∗The mode will be switched to semi-closed position control if Pn002.3 is set to 0.
MECHATROLINK Command Position and Speed Control Option
Reference
Section
0 The set value of P_TLIM, NTLIM, and TFF are ignored.
*1
1 P_TLIM and NTLIM operate as the torque limit values.
2 TFF operates as the torque feed forward.
3 When P-CL and N-CL in the OPTION field are available, P_TLIM and NTLIM oper-
ate as the torque limit value.
Torque Control Option
Reference
Section
0 VLIM is not available.
*1
1 VLIM operates as the speed limit value.
Absolute Encoder Usage
Reference
Section
0 Uses absolute encoder as an absolute encoder.
4.7
1 Uses absolute encoder as an incremental encoder.
External Encoder Usage
Reference
Section
0
Do not use external encoder. *
8.3.1
1 Uses external encoder in forward rotation direction.
2 Reserved (Do not change.)
3 Uses external encoder in reversed rotation direction.
4 Reserved (Do not change.)
4th 3rd 2nd 1st
digit digit digit digit
n.