YASKAWA SIGMA-7 Series User Manual

7.3 List of MECHATROLINK-III Common Parameters
7-59
7
Parameter Lists
61
PnAC2
4 Speed Loop Gain
1,000 to
2,000,000
0.001 Hz
[0.1 Hz]
40000 All
Immedi-
ately
Tuning
62
PnAC4
4
Speed Loop Integral
Time Constant
150 to 512,000
1 μs
[0.01 ms]
20000 All
Immedi-
ately
63
PnAC6
4 Position Loop Gain
1,000 to
2,000,000
0.001/s
[0.1/s]
40000 All
Immedi-
ately
64
PnAC8
4
Feed Forward Com-
pensation
0 to 100 1% 0 All
Immedi-
ately
65
PnACA
4
Position Loop Inte-
gral Time Constant
0 to 5,000,000
1 μs
[0.1 ms]
0All
Immedi-
ately
66
PnACC
4 In-position Range
0 to
1,073,741,824
1 reference
unit
7All
Immedi-
ately
67
PnACE
4 Near-position Range
1 to
1,073,741,824
1 reference
unit
10737418
24
All
Immedi-
ately
81
PnB02
4
Exponential Func-
tion Acceleration/
Deceleration Time
Constant
0 to 510,000
1 μs
[0.1 ms]
0All
Immedi-
ately
*5
82
PnB04
4
Movement Average
Time
0 to 510,000
1 μs
[0.1 ms]
0All
Immedi-
ately
*5
83
PnB06
4
Final Travel for Exter-
nal Input Positioning
-1,073,741,823
to
1,073,741,823
1 reference
unit
100 All
Immedi-
ately
84
PnB08
4
Zero Point Return
Approach Speed
0h to
3FFFFFFFh
10
-3
min
-1
× 5,000h
reference
units/s
con-
verted to
10
-3
min
-1
All
Immedi-
ately
85
PnB0A
4
Zero Point Return
Creep Speed
0h to
3FFFFFFFh
10
-3
min
-1
× 500h
reference
units/s
con-
verted to
10
-3
min
-1
All
Immedi-
ately
86
PnB0C
4
Final Travel for Zero
Point Return
-1,073,741,823
to
1,073,741,823
1 reference
unit
100 All
Immedi-
ately
87
PnB0E
4 Monitor Select 1 0h to Fh – 1h All
Immedi-
ately
Continued on next page.
Continued from previous page.
Parameter
No.
Size Name Setting Range
Setting Unit
[Resolution]
Default
Setting
Applicable
Motors
When
Enabled
Classi-
fication
0000h APOS
0001h CPOS
0002h PERR
0003h LPOS1
0004h LPOS2
0005h FSPD
0006h CSPD
0007h TRQ
0008h ALARM
0009h MPOS
000Ah Reserved (undefined value).
000Bh Reserved (undefined value).
000Ch CMN1 (common monitor 1)
000Dh CMN2 (common monitor 2)
000Eh OMN1 (optional monitor 1)
000Fh OMN2 (optional monitor 2)

YASKAWA SIGMA-7 Series Specifications

General

Encoder Resolution	24-bit absolute encoder
Pollution Degree	2
Cooling Method	Natural cooling or forced air cooling
Control Method	Vector control
Communication Protocols	EtherCAT, MECHATROLINK-III
Input Voltage	AC 200 V, AC 400 V
Rated Output	Varies by model
Safety Function	STO (Safe Torque Off), SS1 (Safe Stop 1), SS2 (Safe Stop 2), SLS (Safely Limited Speed), SBC (Safe Brake Control)
Power Supply Voltage	AC 200 V, AC 400 V
Rated Output Current	Varies by model
Protection Functions	Overload, overvoltage, undervoltage, overheat, short circuit
Operating Temperature	0°C to 55°C
Storage Temperature	-20°C to 65°C
Vibration Resistance	5.9 m/s² at 10 Hz to 55 Hz
Ambient Humidity	5% to 95% RH (non-condensing)
Altitude	Up to 1000 m
Installation	Panel mounted