YASKAWA SGDS Sigma III Series User Manual page 63

3 SERVOPACK Specifications and Dimensional Drawings
Applicable SERVOPACK Model
MECHATROLINK
Communications
Command Method
Functions for
Position Control
Fully-closed Control
System
Specifications
I/O Sequence
Signals Input
Sequence
Output
Position
Output
Others Analog Monitor (CN5)
Communi-
cations
3-4
Communications MECHATROLINK II
Protocol
Station Address
41H to 5FH
(Max. number of slaves : 30)
Transmission Speed 10 Mbps
Transmission Cycle 250 µs, 05 to 4 ms
(multiple of 0.5 ms)
(In accordance with the setting of the
host controller)
Number of Words for
Can be switched between 17-bytes /
Link Transmission station and 32-bytes / station by the
setting of bit 2 for the SW2 switch.
Performance Position control, speed control, and
torque control through
MECHATROLINK II communications
Command Input MECHATROLINK commands and MECHATROLINK II commands
(For sequence, motion, date setting/reference, monitor, adjustment, and other
commands.)
Acceleration /
Linear 1st and 2nd step asymmetrical acceleration/deceleration, exponential
Deceleration function acceleration/deceleration, and movement average acceleration and
Function deceleration
Fully-closed Control Position control using the fully-closed feedback is available.
Interface Serial communications interface
Power Supply and Provided by the customer.
Converter for Fully-
closed PG
Signal allocation Select any seven of the following signals: forward run prohibited (P-OT), reverse
can be modified. run prohibited (N-OT), homing deceleration limit switch, external latch signal 1, 2,
3, forward external torque limit, reverse external torque limit
Fixed Alarm
Output
Signal allocation Select any of the following signals: positioning completion (speed coincidence),
can be modified.
rotation detection, speed limit detection, servo ready, current limit detection, release
brake, warning, NEAR signal
Output
Phase-A, Phase-B, Phase-C: line driver output
Dividing Pulse Optional dividing pulse
Output voltage: ± 8 V
Analog monitor connector built in for monitoring speed, torque and other reference
signals.
Speed: 1 V/1000 RPM
Torque: 1 V/rated torque
error pulse: 0.05 V/reference unit
Interface Digital Operator (hand type)
Function Status display, parameter setting, monitor display, alarm traceback display, JOG
operation
12
SGDS- All Capacities
MECHATROLINK
41H to 4FH
(Max. number of slaves : 15)
4 Mbps
2 ms
17-byte / station
Position control through
MECHATROLINK communications