YASKAWA UAK series, User Manual, Page: 332 / 340

12 Appendix
12-32
12.3
Index Numbers and Corresponding Parameter Numbers
Use the following table to find the parameter numbers that correspond to the index numbers of the EtherCAT
(CoE) commands of the
Σ
-V-SD Driver.
Supplemental Information
The index numbers for a SERVOPACK for one axis and axis 1 of a SERVOPACK for two axes are given for
the index numbers of the servo parameters. The index numbers for axis 2 of a SERVOPACK for two axes can
be calculated by adding 400 hex to the index numbers for axis 1.
Example:
Parameter number: Pn100
= Index number for axis 1: 2040h
↓
Add 400 hex to calculate the index number for axis 2.
= Index number for axis 2: 2440h
Index Number Parameter Name
2000h Pn000 Basic Function Select Switch 0
2001h Pn001 Application Function Select Switch 1
2002h Pn002 Application Function Select Switch 2
2006h Pn006 Application Function Select Switch 6
2007h Pn007
Application Function Select Switch 7
2008h Pn008 Application Function Select Switch 8
200Bh Pn00B Application Function Select Switch B
200Dh Pn00D Application Function Select Switch D
2030h:1 Pn01B Application Function Select Switch 1B
2030h:2 Pn01C Application Function Select Switch 1C
2030h:3 Pn01E
Application Function Select Switch 1E
2030h:4 Pn01F Application Function Select Switch 1F
2030h:5 Pn070 Function at Cutting Feed
2030h:6 Pn071 Function at Fast-forward
2030h:7 Pn07F Application Function Select Switch 7F
2040h:1 Pn100 Speed Loop Gain
2040h:2 Pn101
Speed Loop Integral Time Constant
2040h:3 Pn102 Position Loop Gain
2040h:4 Pn401 1st Step 1st Torque Reference Filter Time Constant
2041h:1 Pn104 2nd Speed Loop Gain
2041h:2 Pn105 2nd Speed Loop Integral Time Constant
2041h:3 Pn106 2nd Position Loop Gain
2041h:4 Pn412
1st Step 2nd Torque Reference Filter Time Constant
2042h:1 Pn12B 3rd Speed Loop Gain
2042h:2 Pn12C 3rd Speed Loop Integral Time Constant
2042h:3 Pn12D 3rd Position Loop Gain
2042h:4 Pn413 1st Step 3rd Torque Reference Filter Time Constant
2043h:1 Pn12E 4rd Speed Loop Gain
2043h:2 Pn12F
4rd Speed Loop Integral Time Constant
2043h:3 Pn130 4rd Position Loop Gain
2043h:4 Pn414 1st Step 4th Torque Reference Filter Time Constant
2060h Pn103 Moment of Inertia Ratio
2061h Pn109 Feedforward Gain
2062h Pn10A Feedforward Filter Time Constant