Mechatrolink-Iii Common Parameters - YASKAWA E-V-MD Series User Manual

11 Appendix

11.2.2 MECHATROLINK-III Common Parameters

11.2.2 MECHATROLINK-III Common Parameters

The following list shows the common parameters used by all devices for MECHATROLINK-III. These com-
mon parameters are used to make settings from the host controller via MECHATROLINK communications.
Do not change settings with the SigmaWin+ or any other device.
Parameter
Size
No.
Encoder Type (read only)
01
4 0000H
PnA02
0001H
Motor Type (read only)
02
4 0000H
PnA04
0001H
Reserved (Do not use.)
03
4 0000H
PnA06
0001H
04
4 Rated Speed (read only)
PnA08
05
4 Maximum Output Speed (read only)
PnA0A
06
4 Speed Multiplier (read only)
PnA0C
07
4 Rated Torque (read only)
PnA0E
08 Maximum Output Torque (read
4
PnA10
only)
09
4 Torque Multiplier (read only)
PnA12
0A
4 Resolution (read only)
PnA14
0B
4 Scale Pitch
PnA16
0C
4 Pulses per Scale Pitch
PnA18
21
4 Electronic Gear Ratio (Numerator)
PnA42
22 Electronic Gear Ratio (Denomina-
4
PnA44 tor)
23
4 Absolute Encoder Origin Offset
PnA46
24
4 Multiturn Limit Setting
PnA48
∗1. Available after the SENS_ON command is input.
Note: When using parameters that are enabled after restarting the SERVOPACK, a CONFIG command must be input or
the power must be turned OFF and then ON again.
11-20
Name Setting Range
Absolute encoder
Incremental encoder
Rotational servomotor
Linear servomotor
Semi-closed
Fully-closed
FFFFFFFFH
FFFFFFFFH
FFFFFFFFH
FFFFFFFFH
FFFFFFFFH
–1073741823
to 1073741823
Units
[Resolution]
0 and 1 –
0 and 1 –
– –
0 to
-1
min
0 to
-1
min
– –
0 to
Nm
0 to
Nm
– –
0 to
pulse/rev
– –
– –
1 to
–
1073741824
1 to
–
1073741824
1 reference unit
0 to 65535 Rev
Factory When Classifica-
Setting Enabled
–
–
–
–
–
–
– –
Device
– –
Information
Related
Parameters
– –
– –
– –
– –
– –
– –
– –
After
1
restart
After
Machine
1
restart
Specification
Related
Immedi-
0
Parameters
*1
ately
After
65535
restart
tion