Yaskawa Sigma-5 User Manual: MECHATROLINK-II Commands Uživatelský manuál stáhnout pdf (Strana 91)

5 Command Related Parameters

5-2

5.1 Command Related Parameters List

This chapter describes the following parameters related to command actions.

Classification Parameter Name Description

Settings Accord-

ing to Machine

Pn20E, Pn210 Electronic Gear Ratio Sets the unit of position data.

Pn000 Direction Selection Sets the servomotor rotation direction.

Pn50A, Pn50B Overtravel Signal Setting

Sets the overtravel function and software

limit operation.

Pn801 Software Limit Function Setting

Pn804, Pn806 Software Limit

Pn808 Absolute Encoder Origin Offset

Sets the origin when using an absolute

encoder.

Motion Accelera-

tion/

Deceleration

Function Settings

Pn833 Motion Setting

Sets the acceleration/deceleration speed for

POSING, EX_POSING, FEED, ZRET,

HOLD commands

Pn80A, Pn834 1st Linear Acceleration Constant

Pn80B, Pn836 2nd Linear Acceleration Constant

Pn80C, Pn838

Acceleration Constant Switching

Speed

Pn80D, Pn83A 1st Linear Deceleration Constant

Pn80E, Pn83C 2nd Linear Deceleration Constant

Pn80F, Pn83E

Deceleration Constant Switching

Speed

Pn827, Pn840

Linear Deceleration Constant for

Stopping

Sets the deceleration speed for HOLD,

SV_OFF commands.

Pn829 SVOFF Waiting Time

Pn810

Exponential Function Accelera-

tion/Deceleration Bias

Sets the position reference filter.

Pn811

Exponential Function Accelera-

tion/Deceleration Time Constant

Pn812 Movement Average Time

Motion Sequence

Setting

Pn814

Final Travel Distance for External

Positioning

Sets the travel distance after the external

signal is input for positioning.

Pn816 Homing Mode Setting

Sets the homing operation.

Pn817, Pn818,

Pn842, Pn844

Homing Approach Speed

Pn819 Final Travel Distance for Homing

Command Data

Option Setting

Pn81F, Pn002

Torque (Force) Reference Options

for Speed/Position Control

Sets the usage of torque (force) limit and

torque (force) feed forward during position/

speed control.

Pn002

Pn407, Pn480

Speed Limit during Torque (Force)

Control

Sets the usage of speed limit during torque

(force) control.

Pn81F,

Pn82A to Pn82E

OPTION Field Allocation

Selects function bits to be assigned in

OPTION field.

Position Data

Latch Function

Setting

Pn820, Pn822 Latching Allowable Area Sets the range to latch position data.

Pn850 Latch Sequence Number

Sets continuous latch operation executed by

LTMOD_ON command.

Pn851 Continuous Latch Count

Pn852, Pn853 Latch Sequence Signal Selection

Acceleration/

Deceleration

Para

ter High-

speed Switching

Function Setting

Pn900 Parameter Bank Number

Sets the acceleration/deceleration parameter

high-speed switching function.

Pn901 Parameter Bank Member Number

Pn902 to Pn910

Parameter Bank Member Defini-

tion

Pn920 to Pn95F Parameter Bank Data

1 2 ... 86 87 88 89 90 91 92 93 94 95 96 ... 141 142

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