Yaskawa Sigma-5 Large Capacity Users Manual: Design and Maintenance-Rotary Motors-Mechatrolink-II Communication Reference - Manual (Page 371)

10 Appendix
10.1.2 Parameters
10-26
Pn80F 2 Deceleration Constant Switching Speed 0 to 65535
100
reference
unit/s
0 Immediately *6 Setup *1
Pn810 2
Exponential Function
Acceleration/Deceleration Bias
0 to 65535
100
reference
unit/s
0 Immediately *7 Setup *1
Pn811 2
Exponential Function
Acceleration/Deceleration Time Constant
0 to 5100 0.1 ms 0 Immediately *7 Setup *1
Pn812 2 Movement Average Time 0 to 5100 0.1 ms 0 Immediately *7 Setup *1
Pn814 4
Final Travel Distance for External Posi-
tioning
-1073741823
to
1073741823
1
reference
unit
100 Immediately Setup *1
Pn816
2 Homing Mode Setting – – 0000 Immediately Setup *1
Pn817 *8 2
Homing Approach Speed 1
0 to 65535
100
reference
unit/s
50 Immediately
*6 Setup *1
Pn818 *9 2
Homing Approach Speed 2
0 to 65535
100
reference
unit/s
5 Immediately *6 Setup *1
Pn819 4 Final Travel Distance for Homing
-1073741823
to
1073741823
1
reference
unit
100 Immediately Setup *1
∗1. For details, refer to Σ -V Series User’s Manual MECHATROLINK-II Commands (No.: SIEP S800000 54).
∗6. Change the setting when the reference is stopped (DEN is set to 1), because the change will affect the output during
operation.
∗7. The settings are updated only if the sending of the reference has been stopped (DEN is set to 1).
∗8. The set value of Pn842 is valid when the set value of Pn817 is 0.
∗9. The set value of Pn844 is valid when the set value of Pn818 is 0.
(cont’d)
Parameter
No.
Size Name
Setting
Range
Units
Factory
Setting
When
Enabled
Classi-
fication
Reference
Section
4th
digit 3rd
digit 2nd
digit 1st
digit
n.
Homing Direction
0
1
Forward
Reverse
Reserved (Do not change.)
Reserved (Do not change.)
Reserved (Do not change.)