2.7 F: Options
344 YASKAWA TOEPYAIGA8002B GA800 Drive Programming
■ F6-21: MECHATROLINK Frame Size
No.
(Hex.)
Name Description
Default
(Range)
F6-21
(036C)
MECHATROLINK Frame
Size
Sets the frame size for MECHATROLINK communication. Restart the drive after you change the
parameter setting.
0
(0, 1)
0 : 32byte (M-2) / 64byte (M-3)
1 : 17byte (M-2) / 32byte (M-3)
■ F6-22: MECHATROLINK Link Speed
No.
(Hex.)
Name Description
Default
(Range)
F6-22
(036D)
MECHATROLINK Link
Speed
Sets the communications speed for MECHATROLINK-II. Restart the drive after you change the
parameter setting.
0
(0, 1)
Note:
This parameter is only available with the MECHATROLINK-II option.
0 : 10 Mbps
1 : 4 Mbps
■ F6-23: MECHATROLINK Monitor Select (E)
No.
(Hex.)
Name Description
Default
(Range)
F6-23
(036E)
MECHATROLINK Monitor
Select (E)
Sets the MEMOBUS register used for the monitor functions of INV_CTL (drive operation control
command) and INV_I/O (drive I/O control command). Restart the drive after you change the
parameter setting.
0000h
(0000h - FFFFh)
To enable the MEMOBUS register set in F6-23, set SEL_MON2/1 to 0EH or set SEL_MON 3/4 and SEL_MON 5/6
to 0EH. Bytes of the response data enable the MEMOBUS register content that was set in F6-23.
■ F6-24: MECHATROLINK Monitor Select (F)
No.
(Hex.)
Name Description
Default
(Range)
F6-24
(036F)
MECHATROLINK Monitor
Select (F)
Sets the MEMOBUS register used for the monitor functions of INV_CTL (drive operation control
command) and INV_I/O (drive I/O control command). Restart the drive after you change the
parameter setting.
0000h
(0000h - FFFFh)
To enable the MEMOBUS register set in F6-24, set SEL_MON2/1 to 0FH or set SEL_MON3/4 and SEL_MON 5/6
to 0FH. Bytes of the response data enable the MEMOBUS register content that was set F6-24.
■ F6-25: MECHATROLINK Watchdog Error Sel
No.
(Hex.)
Name Description
Default
(Range)
F6-25
(03C9)
MECHATROLINK
Watchdog Error Sel
Sets the method to stop the motor or let the motor continue operating when the drive detects an E5
[MECHATROLINK Watchdog Timer Err].
1
(0 - 3)
0 : Ramp to Stop
The drive ramps the motor to stop in the deceleration time. Fault relay output terminal MA-MC turns ON, and MB-
MC turns OFF.
1 : Coast to Stop
The output turns off and the motor coasts to stop. Fault relay output terminal MA-MC turns ON, and MB-MC turns
OFF.
2 : Fast Stop (Use C1-09)
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