YASKAWA SGD7S Product Manual page 552

No. Access Name
23 Get/Set Direction
Reference
24 Get/Set
Direction
25 Get/Set Torque
Positive
26 Get/Set
Torque Limit
Negative
27 Get/Set
Torque Limit
30 Get/Set Kp
31 Get/Set Ki
Position
38 Get/Set
Deadband
Max Dynamic
45 Get/Set Following
Error
Actual Fol-
48 Get
lowing Error
Hard Limit
49 Get/Set
Action
CW
50 Get
Hard Limit
CCW
51 Get
Hard Limit
Soft Limit
52 Get/Set
Enable
Soft Limit
53 Get/Set
Action
Positive Soft-
54 Get/Set ware Limit
Position
Negative
55 Get/Set Software
Limit Position
Positive Limit
56 Get
State
Negative
57 Get
Limit State
Approach
200 Get/Set Velocity for
Positioning
201 Get/Set End Position
Hard Limit
231 Get/Set
Enable
Data Type
BOOL Specifies the direction.
Specifies the forward direction when the
BOOL shaft is viewed from the back of the
motor.
Specifies the Torque command for torque
DINT control. Also, returns the monitor value of
the current torque.
Specifies the forward torque limit.
DINT
Unit: 1%
Specifies the reverse torque limit.
DINT
Unit: 1%
Specifies the proportional gain for the
UINT position loop.
Unit: 0.1/s
Specifies the integral time constant of the
UINT position loop.
Unit: 0.1 ms
Specifies the positioning completed
USINT width.
Unit: Reference units.
Specifies the maximum allowable follow-
DINT ing deviation.
Unit: Reference units
Gives the current position deviation.
DINT
Unit: Reference units
USINT Specifies the response to overtravel.
Gives the status of the CW overtravel sig-
BOOL
nal.
Gives the status of the CCW overtravel
BOOL
signal.
BOOL Enables the software limit.
USINT Specifies the response to a software limit.
Specifies the forward software limit posi-
DINT tion.
Unit: Reference units
Specifies the reverse software limit posi-
DINT tion.
Unit: Reference units
Gives the status of the forward software
BOOL
limit.
Gives the status of the reverse software
BOOL
limit.
Specifies the approach speed for posi-
DINT tioning after switching to positioning.
Unit: Reference units/s
Specifies the end position after switching
DINT to positioning.
Unit: Reference units
BOOL Specifies the overtravel settings.
16.3 DeviceNet Attributes
16.3.7 Position Controller Object
Continued from previous page.
Description
Continued on next page.
Value
0: Reverse
1: Forward
0: CW is for-
ward.
1: CCW is for-
ward.
0 to 800
0 to 800
-800 to 0
10 to 20,000
0 to 50,000
0 to 255
1 to
1,073,741,823
1 to
1,073,741,824
0: Servo OFF
1: Smooth stop
2: Hard stop
0: Disabled
1: Enabled
0: Disabled
1: Enabled
0: Disabled
1: Enabled
1: Hard stop
2: Smooth stop
0x80000001 to
0x7FFFFFFF
0x80000001 to
0x7FFFFFFF
0: Within limit
1: Outside limit
0: Within limit
1: Outside limit
1 to
115,343,500
0 to
0x7FFFFFFF
0: Disabled
1: Enabled
16
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