Index Numbers And Corresponding Parameter Numbers - YASKAWA UAK series User Manual

12 Appendix

12.3 Index Numbers and Corresponding Parameter Numbers

Use the following table to find the parameter numbers that correspond to the index numbers of the EtherCAT
(CoE) commands of the Σ-V-SD Driver.
Supplemental Information
The index numbers for a SERVOPACK for one axis and axis 1 of a SERVOPACK for two axes are given for
the index numbers of the servo parameters. The index numbers for axis 2 of a SERVOPACK for two axes can
be calculated by adding 400 hex to the index numbers for axis 1.
Example:
Parameter number: Pn100
= Index number for axis 1: 2040h
= Index number for axis 2: 2440h
Index Number
2000h
2001h
2002h
2006h
2007h
2008h
200Bh
200Dh
2030h:1
2030h:2
2030h:3
2030h:4
2030h:5
2030h:6
2030h:7
2040h:1
2040h:2
2040h:3
2040h:4
2041h:1
2041h:2
2041h:3
2041h:4
2042h:1
2042h:2
2042h:3
2042h:4
2043h:1
2043h:2
2043h:3
2043h:4
2060h
2061h
2062h
12-32
↓ Add 400 hex to calculate the index number for axis 2.
Parameter
Pn000 Basic Function Select Switch 0
Pn001 Application Function Select Switch 1
Pn002 Application Function Select Switch 2
Pn006 Application Function Select Switch 6
Pn007 Application Function Select Switch 7
Pn008 Application Function Select Switch 8
Pn00B Application Function Select Switch B
Pn00D Application Function Select Switch D
Pn01B Application Function Select Switch 1B
Pn01C Application Function Select Switch 1C
Pn01E Application Function Select Switch 1E
Pn01F Application Function Select Switch 1F
Pn070
Function at Cutting Feed
Pn071
Function at Fast-forward
Pn07F
Application Function Select Switch 7F
Pn100
Speed Loop Gain
Pn101 Speed Loop Integral Time Constant
Pn102 Position Loop Gain
Pn401 1st Step 1st Torque Reference Filter Time Constant
Pn104 2nd Speed Loop Gain
Pn105 2nd Speed Loop Integral Time Constant
Pn106 2nd Position Loop Gain
Pn412 1st Step 2nd Torque Reference Filter Time Constant
Pn12B 3rd Speed Loop Gain
Pn12C 3rd Speed Loop Integral Time Constant
Pn12D 3rd Position Loop Gain
Pn413 1st Step 3rd Torque Reference Filter Time Constant
Pn12E 4rd Speed Loop Gain
Pn12F 4rd Speed Loop Integral Time Constant
Pn130 4rd Position Loop Gain
Pn414 1st Step 4th Torque Reference Filter Time Constant
Pn103
Moment of Inertia Ratio
Pn109
Feedforward Gain
Pn10A
Feedforward Filter Time Constant
Name