YASKAWA SGDS Sigma III Series, User Manual

Page: 63 / 376

3 SERVOPACK Specifications and Dimensional Drawings
3-4
Applicable SERVOPACK Model SGDS- 12 All Capacities
MECHATROLINK
Communications Communications
Protocol MECHATROLINK II MECHATROLINK
Station Address 41H to 5FH
(Max. number of slaves : 30) 41H to 4FH
(Max. number of slaves : 15)
Transmission Speed 10 Mbps 4 Mbps
Transmission Cycle 250
µ
s, 05 to 4 ms
(multiple of 0.5 ms)
(In accordance with the setting of the
host controller)
2 ms
Number of Words for
Link Transmission Can be switched between 17-bytes /
station and 32-bytes / station by the
setting of bit 2 for the SW2 switch. 17-byte / station
Command Method Performance Position control, speed control, and
torque control through
MECHATROLINK II communications Position control through
MECHATROLINK communications
Command Input MECHATROLINK commands and MECHATROLINK II commands
(For sequence, motion, date setting/reference, monitor, adjustment, and other
commands.)
Functions for
Position Control Acceleration /
Deceleration
Function Linear 1st and 2nd step asymmetrical acceleration/deceleration, exponential
function acceleration/deceleration, and movement average acceleration and
deceleration
Fully-closed Control Position control using the fully-closed feedback is available.
Fully-closed Control
System
Specifications Interface Serial communications interface
Power Supply and
Converter for Fully-
closed PG Provided by the customer.
I/O
Signals
Sequence
Input Signal allocation
can be modified. Select any seven of the following signals: forward run prohibited (P-OT), reverse
run prohibited (N-OT), homing deceleration limit switch, external latch signal 1, 2,
3, forward external torque limit, reverse external torque limit
Sequence
Output Fixed
Output Alarm
Signal allocation
can be modified. Select any of the following signals: positioning completion (speed coincidence),
rotation detection, speed limit detection, servo ready, current limit detection, release
brake, warning, NEAR signal
Position
Output Output Phase-A, Phase-B, Phase-C: line driver output
Dividing Pulse Optional dividing pulse
Others Analog Monitor (CN5)
Output voltage:
±
8 V
Analog monitor connector built in for monitoring speed, torque and other reference
signals.
Speed: 1 V/1000 RPM
Torque: 1 V/rated torque
error pulse: 0.05 V/reference unit
Communi-
cations Interface
Digital Operator (hand type)
Function Status display, parameter setting, monitor display, alarm traceback display, JOG
operation