YASKAWA E-7S SERVOPACK SGD7S - Speed;Position Expansion Function Setting; Parameters; Serial Commands

12.4 Speed/Position Expansion Function Setting
12.4.1 Parameters
12-8
12.4 Speed/Position Expansion Function Setting
The speed/position expansion function uses a 24-bit encoder to perform optimum positioning.
To do so, the setting ranges are expanded for speed parameters, position parameters, and
serial command data.
This function is supported for INDEXER Modules with software version 0007 or higher.
If you set PnB54 to 1 (Enable Expansion Mode), the setting ranges for parameters, serial com-
mands, and program tables, the number of display digits for monitor commands, and the num-
ber of display digits on the Digital Operator will be expanded. Details are provided below.
12.4.1 Parameters
12.4.2 Serial Commands
Speed Commands
Parameter
No.
Name
Setting Ranges
PnB54 = 0
(Disable
Expansion Mode)
PnB54 = 1 (Enable
Expansion Mode)
PnB21
• Linear coordinates (PnB20 = 0000h):
Forward Software Limit (P-LS)
• Rotational coordinates (PnB20 ≠ 0000h):
Last Rotational Coordinate
-99,999,999 to
+99,999,999
-536,870,911 to
+536,870,911
PnB23
• Linear coordinates (PnB20 = 0000h):
Reverse Software Limit (N-LS)
• Rotational coordinates (PnB20 ≠ 0000h):
First Rotational Coordinate
-99,999,999 to
+99,999,999
-536,870,911 to
+536,870,911
PnB25
• When using an incremental encoder: Origin
• When using an absolute encoder:
Absolute Encoder Offset
-99,999,999 to
+99,999,999
-1,073,741,823 to
+1,073,741,823
PnB27 Positioning/Registration Speed 1 to 99,999,999 1 to 199,999,999
PnB29 Acceleration Rate 1 to 99,999,999 1 to 199,999,999
PnB2B Deceleration Rate 1 to 99,999,999 1 to 199,999,999
PnB33 Homing Movement Speed 1 to 99,999,999 1 to 199,999,999
PnB35 Homing Approach Speed 1 to 99,999,999 1 to 199,999,999
PnB37 Homing Creep Speed 1 to 99,999,999 1 to 199,999,999
PnB39 Homing Final Travel Distance
-99,999,999 to
+99,999,999
-1,073,741,823 to
+1,073,741,823
PnB54 = 0 (Disable Expansion Mode) PnB54 = 1 (Enable Expansion Mode)
Serial Command Setting Range Serial Command Setting Range
SPDnnnnnnnn
1 ≤ nnnnnnnn ≤ 99,999,999
[1,000 reference units/min]
SPDnnnnnnnnn
1 ≤ nnnnnnnnn ≤ 199,999,999
[1,000 reference units/min]
ACCnnnnnnnn
1 ≤ nnnnnnnn ≤ 99,999,999
[1,000 (reference units/min)/ms]
ACCnnnnnnnnn
1 ≤ nnnnnnnnn ≤ 199,999,999
[1,000 (reference units/min)/ms]
DECnnnnnnnn
1 ≤ nnnnnnnn ≤ 99,999,999
[1,000 (reference units/min)/ms]
DECnnnnnnnnn
1 ≤ nnnnnnnnn ≤ 199,999,999
[1,000 (reference units/min)/ms]
RSPDnnnnnnnn
1 ≤ nnnnnnnn ≤ 99,999,999
[1,000 reference units/min]
RSPDnnnnnnnnn
1 ≤ nnnnnnnnn ≤ 199,999,999
[1,000 reference units/min]
JOGPnnnnnnnn,
JOGNnnnnnnnn
1 ≤ nnnnnnnn ≤ 99,999,999
[1,000 reference units/min]
JOGPnnnnnnnnn,
JOGNnnnnnnnnn
1 ≤ nnnnnnnnn ≤ 199,999,999
[1,000 reference units/min]
RJOGPnnnnnnnn,
RJOGNnnnnnnnn
1 ≤ nnnnnnnn ≤ 99,999,999
[1,000 reference units/min]
RJOGPnnnnnnnnn,
RJOGNnnnnnnnnn
1 ≤ nnnnnnnnn ≤ 199,999,999
[1,000 reference units/min]