YASKAWA SGD7S series Product Manual page 235

5.2 SERVOPACKs with MECHATROLINK-III Communications References
5.2.2 List of Servo Parameters
Parameter
No.
Pn207
Pn20A
Pn20E
Pn210
Pn212
Pn22A
Pn230
Pn231
Pn233
5-58
Name
Position Control Func-
2
tion Selections

n. X Reserved parameter (Do not change.)
 
n. X Reserved parameter (Do not change.)
 
n. X Reserved parameter (Do not change.)
/COIN (Positioning Completion Output) Signal Output Timing
Output when the absolute value of the position deviation is the same or less
0
than the setting of Pn522 (Positioning Completed Width).
Output when the absolute value of the position error is the same or less than

n.X
1 the setting of Pn522 (Positioning Completed Width) and the reference after
the position reference filter is 0.
Output when the absolute value of the position error is the same or less than
2 the setting of Pn522 (Positioning Completed Width) and the reference input is
0.
Number of External
4
Encoder Scale Pitches
Electronic Gear Ratio
4
(Numerator)
Electronic Gear Ratio
4
(Denominator)
Number of Encoder
4
Output Pulses
Fully-closed Control
2
Selections

n. X Reserved parameter (Do not change.)
 
n. X Reserved parameter (Do not change.)
 
n. X Reserved parameter (Do not change.)
Fully-closed Control Speed Feedback Selection

n.X 0 Use motor encoder speed.
1 Use external encoder speed.
Position Control Expan-
2
sion Function Selections
Backlash Compensation Direction

n. X 0 Compensate forward references.
1 Compensate reverse references.
 
n. X Reserved parameter (Do not change.)
 
n. X Reserved parameter (Do not change.)

n.X Reserved parameter (Do not change.)
4 Backlash Compensation
Backlash Compensa-
2
tion Time Constant
Setting Setting Default
Range Unit Setting
0000 to
– 1000
2210
1 scale
4 to pitch/
32768
1,048,576 revolu-
tion
1 to
1 16
1,073,741,824
1 to
1 1
1,073,741,824
16 to
1,073,741,824 1 P/Rev 2048
0000 to
– 0000
1003
0000 to
– 0000
0001
0.1 ref-
-500,000 to
erence 0
500,000
units
0 to 65,535 0.01 ms 0
Continued from previous page.
Applicable When Classi-
Motors Enabled fication
After
All Setup
restart
After
Rotary Setup
restart
After
All Setup
restart
After
All Setup
restart
After
Rotary Setup
restart
After
Rotary Setup
restart
After
All Setup
restart
Immedi-
All Setup
ately
Immedi-
All Setup
ately
Continued on next page.
Refer-
ence
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