YASKAWA MP2200

3
Motion Module Setup
3.2.4
Servo Parameter Settings
3-40
[ b ] SGDB
[ c ] SGDM
and
SGDH
■
With a Rotary Motor Connected
SERVOPACK and Motor Specifications SVA-01 Module Fixed Parameter Settings
Rated speed [min
-1
]
÷
Cn-03 (Speed reference gain)
×
1000
→
No. 23
D/A Output Voltage at 100% Speed
Cn-13 (Torque reference gain)
×
0.1
×
1000
→
No. 24
D/A Output Voltage at 100% Torque
2000 (fixed value)
→
No. 26
A/D Input Voltage at 100% Torque Monitor
Servo type
Σ
-I
0 (fixed value)
→
No. 28
Servo Drive Selection
Motor type
Rotary 0 (fixed value)
→
No. 29
Motor Type Selection
Encoder
Cn-01, bit F = 0 (INC) 0 (fixed value)
→
No. 30
Encoder Selection
Cn-01, bit F = 1 (ABS)
1 (fixed value) or
2 (fixed value)
Reverse
rotation
connection
Cn-02, bit 0 = 0
(Forward)
0 (fixed value)
→
No. 31
Rotational Direction of Absolute Encoder
Cn-02, bit 0 = 1
(Reverse)
1 (fixed value)
Rated speed
Rotary
Rated speed
[min
-1
]
→
No. 34
Rated Speed
Encoder
resolution
Rotary
Pulses per motor
revolution (before
multiplication)
[pulse/rev]
→
No. 36
Encoder Resolution (before Multiplication)
99999 (fixed value)
→
No. 38
Max. Revolutions of Absolute Encoder
SERVOPACK and Motor Specifications SVA-01 Module Fixed Parameter Settings
Pn300 (Speed reference input gain)
×
0.01
×
1000
→
No. 23
D/A Output Voltage at 100% Speed
Pn400 (Torque reference input gain)
×
0.1
×
1000
→
No. 24
D/A Output Voltage at 100% Torque
1000 (fixed value)
→
No. 26
A/D Input Voltage at 100% Torque Monitor
Servo type
Σ
-II (including
Σ
-III)
1 (fixed value)
→
No. 28
Servo Drive Selection
Motor type
Rotary 0 (fixed value)
→
No. 29
Motor Type Selection
Encoder
INC 0 (fixed value)
→
No. 30
Encoder Selection
For ABS,
Pn002.2 = 0 (ABS)
1 (fixed value)
or 2 (fixed value)
For ABS,
Pn002.2 = 1 (INC)
0 (fixed value)
Reverse
rotation
connection
Pn000.0 = 0 (Forward) 0 (fixed value)
→
No. 31
Rotational Direction of Absolute Encoder
Pn000.0 = 1 (Reverse) 1 (fixed value)
Rated speed
Rotary
Rated speed [min
−
1
]
→
No. 34
Rated Speed
Encoder
resolution
Rotary
Pn201 (PG dividing ratio (for
16-bit or less)) or Pn212 (PG
dividing ratio (for 17-bit or
more))
[pulse/rev]
→
No. 36
Encoder Resolution (before multiplication)
or Serial Converter Resolution
Multiturn limit
Rotary Pn205 (Multiturn limit setting)
→
No. 38
Max. Revolutions of Absolute Encoder
DD motor 0 (fixed value)
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