YASKAWA SGM7D-30F, Product Manual, Page: 358 / 502

4.2 FT82 SERVOPACK with MECHATROLINK-II Communications References
4
Parameter Li
s
t
s
4-33
Pn002
2
Application Function
Selections 2 0000h to
4213h
– 0000h –
After
restart
Setup –
Continued on next page.
Continued from previous page.
Parameter
No.
Siz
e
Name
Setting
Range
Setting
Unit
Default
Setting Applicable
Motors
When
Enabled
Classi-
fication
Refer-
ence
n.

X
MECHATROLINK Command Position and Speed Control
Option Applicable
Motors
Reference
0 Ignore the settings of P_TLIM, NTLIM, and TFF.
All *2
1 Use P_TLIM and N_TLIM as torque limits.
2 Use TFF as a torque feedback input.
3
Use P_TLIM or N_TLIM as the torque limit when
P_CL or N_CL in the OPTION field is ON.
n.

X

Torque Control Option
Applicable
Motors
Reference
0
Ignore the setting of the speed limit for torque con-
trol (VLIM).
All
*2
1
Use the speed limit for torque control (VLIM) as the
speed limit.
n.

X

Encoder Usage
Applicable
Motors
Reference
0
Use the encoder according to encoder specifica-
tions.
All
*1 1 Use the encoder as an incremental encoder.
2
Use the encoder as a single-turn absolute
encoder.
Rotary
n.X

External Encoder Usage
Applicable
Motors
Reference
0 Do not use an external encoder.
Rotary *1
1
The external encoder moves in the forward direc-
tion for CCW motor rotation.
2 Reserved setting (Do not use.)
3
The external encoder moves in the reverse direc-
tion for CCW motor rotation.
4 Reserved setting (Do not use.)