Yaskawa Sigma-5 User Manual: Design and Maintenance - Rotary Motors - MECHATROLINK-II Communications Reference - Manual (Page 343)

10.1 List of Parameters
10-13
10
Ap
pend
ix
Pn22A
2
Fully-closed Control
Selection Switch
0000 to 1003 − 0000 After restart Setup −
Pn230
2
Position Control Expanded
Function Switch
0000 to 0001 – 0000 After reset Setup 5.8.6
Pn231 4 Backlash Compensation Value
-500000 to
500000
0.1
reference
unit
0 Immediately Setup 5.8.6
Pn233 2
Backlash Compensation Time
Constant
0 to 65536 0.01 ms 0 Immediately Setup 5.8.6
Pn281 2 Encoder Output Resolution 1 to 4096
1 edge/
pitch
20 After restart Setup 8.3.3
Pn304 2 JOG Speed 0 to 10000 1 min -1 500 Immediately Setup 6.3
Pn305 2 Soft Start Acceleration Time 0 to 10000 1 ms 0 Immediately Setup
*1
Pn306 2 Soft Start Deceleration Time 0 to 10000 1 ms 0 Immediately 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
Reserved (Do not change.)
Reserved (Do not change.)
Reserved (Do not change.)
Speed Feedback Selection at Fully-closed Control
Reference
Section
0 Uses motor encoder speed.
8.3.8
1 Uses external encoder speed.
4th 3rd 2nd 1st
digit digit digit digit
n.
Backlash Compensation Direction
0 Compensates with a reference in the forward direction.
1 Compensates with a reference in the reverse direction.
Reserved (Do not change.)
Reserved (Do not change.)
Reserved (Do not change.)
4th 3rd 2nd 1st
digit digit digit digit
n.