Yaskawa Sigma-5 User Manual: MECHATROLINK-II Commands Uživatelský manuál Strana 102
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Hodnocené. / 5. Na základě hodnocení zákazníků
5.2 Command Related Parameters Details
5-13
5
Command Related Parameters
Internal Speed Limit
This method always limits the servomotor speed to either of the following set parameter values.
Speed Limit by Torque (Force) Control Command TRQCTRL
This method limits the speed by setting a desired speed limit value in the command data (VLIM).
[Setting Parameter]
Set the following parameter to use the speed limit set in TRQCTRL command.
(4) OPTION Field Allocation
The commands can be allocated to the OPTION field using the following parameters. To change the factory
setting, set Pn81F = 1 and allocate the function bits using parameters Pn82A to Pn82E. The setting will
be validated by turning the power supply OFF and then ON again, or by executing CONFIG.
[Setting Parameters]
Parameter
No.
Name
Data
Size
(byte)
Setting Range Unit
Factory
Setting
Pn407
Speed Limit during Toque Control (For rota-
tional servomotors)
2 0 to 10000
min
-1
10000
Pn480
Speed Limit during Force Control (For linear
servomotors)
2 0 to 10000 mm/s 10000
Pn002
Torque (Force) Reference Option
n.0 Disables the speed limit set in the VLIM. (Factory setting)
n.1 Enables the speed limit set in the VLIM.
Parameter
Name Setting Range
Factory
Setting
No. Digit
Pn81F Command Data Allocation 0000h to 0011h 0000h
0
OPTION Field Allocation
0 or 1 00 Disables OPTION field allocation.
1 Enables OPTION field allocation.
Pn82A OPTION Field Allocation 1 0000H to 1E1EH 1813H
0 0 to E ACCFIL bit position 3
1
0 Disables ACCFIL bit allocation.
1
1 Enables ACCFIL bit allocation.
2 0 to E GSEL bit position 8
3
0 Disables GSEL bit allocation.
1
1 Enables GSEL bit allocation.
Pn82B OPTION Field Allocation 2 0000H to 1F1FH 1D1CH
0 0 to F V_PPI bit position C
1
0 Disables V_PPI bit allocation
1
1 Enables V_PPI bit allocation.
2 0 to F P_PI_CLR bit position D
3
0 Disables P_PI_CLR bit allocation.
1
1 Enables P_PI_CLR bit allocation.
- Σ-V Series 1
- About this Manual 3
- Warranty 4
- (3) Suitability for Use 5
- (4) Specifications Change 5
- Contents 6
- 1.1.1 Layers 10
- 1.1.2 Frame Structure 10
- MECHATROLINK-II Commands 11
- 1.1.4 Terminology 12
- 1 MECHATROLINK-II Commands 14
- 1.4 Data Order 17
- Operation Sequence 18
- 2.1 Preparing for Operation 19
- Setting the Station Address 20
- 2 Operation Sequence 21
- -J11) are Used 23
- (1) Operation Procedure 25
- Controller 26
- 2.3.1 Setup Sequence 27
- POS: Reference position 31
- 3.2.1 No Operation (NOP: 00H) 34
- (4) Details WDT and RWDT 36
- (1) DISCONNECT Command (0FH) 37
- (1) CONNECT Command (0EH) 38
- (2) Details of COM_MOD 39
- (1) SYNC_SET Command (0DH) 40
- (1) ID_RD Command (03H) 41
- (2) Device ID Specifications 42
- ID_RD aSGDV2R9E11A00 43
- ID_RD bSGDV131J11A00 44
- (1) PRM_WR Command (02H) 45
- (1) PPRM_WR Command (1CH) 46
- (1) CONFIG Command (04H) 47
- (1) SENS_ON Command (23H) 48
- • Applicable Commands: 50
- (1) SV_ON Command (31H) 51
- 3.2 Commands Details 52
- (1) SENS_OFF Command (24H) 54
- (1) SV_OFF Command (32H) 55
- (1) PRM_RD Command (01H) 56
- (1) SMON Command (30H) 57
- (1) ALM_RD Command (05H) 58
- (2) ALM_RD_MOD Specifications 59
- (1) ALM_CLR Command (06H) 60
- (1) POS_SET Command (20H) 61
- (2) PS_SUBCMD Specifications 61
- (1) ADJ Command (3EH) 62
- C01EH reference value 65
- C021H reference value 65
- Motion Commands for Operation 66
- 4.1 Motion Commands List 67
- 4.2.1 Stop Motion (HOLD: 25H) 68
- (2) Related Parameters 69
- (1) LTMOD_ON Command (28H) 70
- (2) Normal Latch Mode 70
- (3) Continuous Latch Mode 71
- (4) LT_SGNL Specifications 72
- (5) Related Parameters 72
- (1) LTMOD_OFF Command (29H) 73
- (1) INTERPOLATE Command (34H) 74
- (1) POSING Command (35H) 76
- (1) FEED Command (36H) 78
- (1) LATCH Command (38H) 80
- (1) EX_POSING Command (39H) 82
- (2) Operation 83
- (3) Related Parameters 83
- 4.2.9 Homing (ZRET: 3AH) 84
- (1) VELCTRL Command (3CH) 86
- Before soft-start 87
- After soft-start 87
- Max. motor speed 87
- Pn305 Pn306 87
- (1) TRQCTRL (3DH) 88
- (2) Speed Limit Option 1 89
- (3) Speed Limit Option 2 89
- 5.2.1 Electronic Gear Setting 93
- Position 94
- (2) Position Reference Filter 96
- 5.2.3 Motion Sequence Setting 99
- 5.2.4 Command Data Options 100
- 5 Command Related Parameters 101
- 5.2.4 Command Data Options 101
- (4) OPTION Field Allocation 102
- (1) Latching Allowable Area 104
- (2) Continuous Latch Function 104
- Command Related Parameters 106
- NEAR Signal Width Setting 111
- (3) Option Monitor Setting 113
- MECHATROLINK-II Subcommands 114
- 6.2.1 No Operation (NOP: 00H) 115
- Data Field 120
- 7.1 Main Command Data Field 121
- (1) Applicable Commands 123
- (2) Setting Method 125
- Applicable Commands 126
- 7.1.6 LT_SGNL Specifications 128
- 7.2 Substatus Data Field 129
- Communications or Commands 130
- 8.1 List of Alarms 131
- 8.1 List of Alarms 132
- 8.2 List of Warnings 133
- 8.2 List of Warnings 134
- Appendix 136
- A Brake Control Commands 137
- • Sub-control (SUBCTRL) 139
- Select Motion (MOTION) 140
- Select Latch Signal (L_SGN) 140
- • Sequence Signals: SQ_CMD 140
- Revision History 141
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