YASKAWA Sigma-7 SGD7S Series - Page 557

The MDI acceleration is the normalized value to parameter 6083h (Profile Acceleration).
The interpretation of this value is: FFFFh => 100% of 60C5h (Max. Acceleration).
PNU
(hex)
Name Data Type Access PDO Map-
ping
Value Saving to
EEPROM
Units
2536h MDI Accelera-
tion (MDI_ACC)
UINT RW RPZD UINT
(default: 0)
Yes N2*
* FFFFh => 100% of 60C5h (max. acceleration)
The MDI Deceleration is the normalized value to parameter 6084h (Profile Deceleration).
The interpretation of this value is: FFFFh => 100% of 60C6h (Max. Deceleration).
PNU
(hex)
Name Data Type Access PDO Map-
ping
Value Saving to
EEPROM
Units
2537h MDI Decelera-
tion (MDI_DEC)
UINT RW RPZD UINT
(default: 0)
Yes N2*
* FFFFh => 100% of 60C5h (Max. Acceleration)
Sets the mode of MDI traversing block.
PNU
(hex)
Name Data Type Access PDO Map-
ping
Value Saving to
EEPROM
2538h MDI Mode (MDI_MOD) UINT RW RPZD UINT
(default: 0)
No
Data Description
Bits Description
0 Absolute / Relative positioning mode (PNU 2400h=0):
n 1 - Absolute positioning. The target position in the signal
MDI_TARPOS defines the absolute target position for the motion.
n 0 - Relative positioning. The target position in the signal
MDI_TARPOS defines the relative target position for the motion
related to the actual axis position.
Absolute / Offset target command in Positioning in range mode execution
(PNU 2400h!=0):
n 1 - Absolute Target command. The target position in the signal
MDI_TARPOS is defined as absolute positioning in range target.
n 0 - Offset Target command. The target position in the signal
MDI_TARPOS is defined as offset from previous target positioning in
range.
1 to 15 Reserved for future use by PROFIdrive profile
MDI Acceleration
(MDI_ACC)
MDI Deceleration
(MDI_DEC)
MDI Mode (MDI_MOD)
Sigma-7 Series SERVOPACKs
Object Dictionary
PROFIdrive Position Mode
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