YASKAWA SGDV SERVOPACK User Manual

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10 Appendix
10.2.2 Parameters
10-20
Pn200
2
Position Control Reference
Form Selection Switch
0000 to 2236  0000 After restart Setup 
Pn207
2
Position Control Function
Sw
itch
0000 to 2210  0000 After restart Setup 
(cont’d)
Parameter
No.
Size Name
Setting
Range
Units
Factory
Setting
When
Enabled
Classification
Reference
Section
Reference Pulse Form
Reference
Section
0 Sign + Pulse train, positive logic
5.4.1
1 Forward + Reverse pulse train, positive logic
2 Two-phase pulse train with 90  phase differential (phase A + phase B)  1, positive logic
3 Two-phase pulse train with 90  phase differential (phase A + phase B)  2, positive logic
4 Two-phase pulse train with 90  phase differential (phase A + phase B)  4, positive logic
5 Sign + Pulse train, negative logic
6 Forward + Reverse pulse train, negative logic
Clear Signal Form
Reference
Section
0 Clears position error when the signal is at high level.
5.4.2
1 Clears position error at the rising edge of the signal.
2 Clears position error when the signal is at low level.
3 Clears position error at the falling edge of the signal.
Clear Operation
Reference
Section
0 Clears position error at the baseblock (servomotor power OFF or alarm occurred).
5.4.2
1 Does not clear position error (possible to clear error counter only with CLR signal).
2 Clears position error when an alarm occurs.
Filter Selection
Reference
Section
0 Uses reference input filter 1 for line driver signal (to 1 Mpps).
5.4.1
1 Uses reference input filter for open collector signal (to 200 kpps).
2 Uses reference input filter 2 for line driver signal (1 Mpps to 4 Mpps).
4th 3rd 2nd 1st
digit digit digit digit
n.

Reserved (Do not change.)
Position Control Option
Reference
Section
0 V-REF not allocated
6.9.3
1 Uses V-REF as a speed feedforward input.
Reserved (Do not change.)
/COIN Output Timing
Reference
Section
0 Outputs when the position error absolute value is the same or less than the
positioning completed width (Pn522).
5.4.6
1 Outputs when the position error absolute value is the same or less than the
positioning completed width (Pn522), and the reference after position reference
filtering is 0.
2 Outputs when the position error absolute value is the same or less than the
positioning completed width (Pn522), and the position reference input is 0.
4th 3rd 2nd 1st
digit digit digit digit
n.


YASKAWA SGDV SERVOPACK Specifications

General

Model	SGDV
Type	SERVOPACK
Control Modes	Position, Speed, Torque
Communication Interface	MECHATROLINK-II, MECHATROLINK-III, EtherCAT
Protection Rating	IP20
Operating Temperature	0°C to 55°C
Vibration Resistance	5.9 m/s² (0.6G) at 10-60Hz
Shock Resistance	49 m/s² (5G)
Protection Features	Overcurrent, Overvoltage, Undervoltage, Overload, Regenerative overload, Encoder error