YASKAWA MECHATROLINK Sigma 2 Series User Manual page 228

Appendix B List of Parameters
Category Pn No. Digit
Place
Function Pn002 0
Switches
1
2
3
Table B.3 Function Switches List (cont'd)
Name Setting
Torque Refer- 0
ence Option in
Speed/Position
1
Control Mode
2
3
Speed Reference 0
Option in Torque
Control Mode
1
0
Absolute
Encoder Usage
1
0
Fully Closed
Encoder Usage
1
2
3
4
Description
The torque reference option is not effective.
Set P_TLIM (TFF), N_TLIM to 0.
P_TLIM operates as the torque limit value.
Set N_TLIM to 0.
TFF operates as the torque feed forward.
Set N_TLIM to 0.
When P_CL and N_CL of OPTION field = 0,
parameters Pn402 and Pn403 operate as torque
limit values.
When P_CL = 0 and N_CL = 1, N_TLIM oper-
ates as the torque limit value.
When P_CL = 1 and N_CL = 0, or P_CL and
N_CL = 1, P_TLIM operates as the torque
limit value.
The speed reference option is not effective.
Set VLIM to 0.
VLIM operates as the speed limit value.
Uses absolute encoder as an absolute encoder.
Uses absolute encoder as an incremental
encoder.
Do not use.
Uses without phase C.
Uses with phase C.
Uses in Reverse Rotation Mode without phase
C.
Uses in Reverse Rotation Mode with phase C.
B-10
SGDH Changing
Factory Method *
Setting
∆
0
∆
0
∆
0
∆
0