YASKAWA SGD7S-*A20**F62 Series Product Manual

Contents

6.3 List of MECHATROLINK-III Common Parameters6-496 Parameter Lists49PnA924 Supported Unit Sys-tems (read only) – – 0601011Fhex All –Unit settings61PnAC2 4 Speed Loop Gain 1,000 to2,000,0000.001 Hz[0.1 Hz] 40000 All Immedi-ately62PnAC4 4 Speed Loop IntegralTime Constant 150 to 512,000 1 μs[0.01 ms] 20000 All Immedi-ately63PnAC6 4 Position Loop Gain 1,000 to2,000,0000.001/s[0.1/s] 40000 All Immedi-ately64PnAC8 4 Feedforward Com-pensation 0 to 100 1% 0 All Immedi-ately65PnACA 4 Position Loop Inte-gral Time Constant 0 to 5,000,000 1 μs[0.1 ms] 0 All Immedi-ately66PnACC 4 Positioning Com-pleted Width0 to1,073,741,8241 referenceunit 7 All Immedi-ately67PnACE 4 Near Signal Width 1 to1,073,741,8241 referenceunit1073741824 All Immedi-ately81PnB02 4Exponential Acceler-ation/DecelerationTime Constant0 to 510,000 1 μs[0.1 ms] 0 All Immedi-ately*682PnB04 4 Movement AverageTime 0 to 510,000 1 μs[0.1 ms] 0 All Immedi-ately*683PnB06 4 External PositioningFinal Travel Distance-1,073,741,823 to1,073,741,823 1 referenceunit 100 All Immedi-ately84PnB08 4 Origin ApproachSpeed 0 to 3FFFFFFFhex 10 -3 min -1× 5,000 ref-erence units/s convertedto 10 -3 min -1All Immedi-atelyContinued on next page.Continued from previous page.ParameterNo. Size Name Setting Range Setting Unit[Resolution]DefaultSettingApplicableMotorsWhenEnabledClassi-ficationSpeed UnitsBit 0 Reference units/s (1: Enabled)Bit 1 Reference units/min (1: Enabled)Bit 2 Percentage (%) of rated speed (1: Enabled)Bit 3 min -1 (rpm) (1: Enabled)Bit 4 Maximum motor speed/4000000 hex (1: Enabled)Bits 5 to 7 Reserved (0: Disabled).Position UnitsBit 8 Reference units (1: Enabled)Bits 9 to 15 Reserved (0: Disabled).Acceleration UnitsBit 16 Reference units/s 2 (1: Enabled)Bit 17 ms (acceleration time required to reach rated speed) (0: Disabled)Bits 18 to 23 Reserved (0: Disabled).Torque UnitsBit 24 Nm (0: Disabled)Bit 25 Percentage (%) of rated torque (1: Enabled)Bit 26 Maximum torque/40000000 hexBits 27 to 31 Reserved (0: Disabled).