Yaskawa Sigma-5 User Manual: MECHATROLINK-II Commands - Manual (Page 110)

5.2 Command Related Parameters Details
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5
Command Related Parameters
5.2.7 STATUS Field and Monitor Related Settings
(1) STATUS Field Status Detection Level Setting
This section describes the parameters for setting the status detection levels for the STATUS field data.
„ Origin (ZPOINT) Range Setting
Set the ZPOINT signal status detection range.
Note: ZPOINT detection will be performed only after completion of the following operations. Otherwise, it will not be
performed.
• When an incremental encoder is connected
• Homing operation by ZRET command is completed.
• The coordinate setting is completed after reference point setting (REFE = 1) by executing POS_SET com-
mand.
• When an absolute encoder is connected
• Execution of SENS_ON command is completed.
„ Positioning Completed (PSET) Width Setting
Set the PSET signal status detection range.
Note: PSET = 1 when output is completed (DEN = 1) and the feedback position (APOS) is within the positioning com-
pleted (PSET) detection range.
Parameter
No.
Name
Data
Size
(byte)
Setting Range Unit
Factory
Setting
Pn803 Origin Range 2 0 to 250 Reference unit 10
Feedback position
(APOS)
Origin Range
(Pn803)
ZPOINT detection range
Origin(0)
Parameter
No.
Name
Data
Size
(byte)
Setting Range Unit
Factory
Setting
Pn522 Positioning Completed Width 4 0 to 1073741824 Reference unit 7
Feedback position
㧔APOS㧕
Positioning Completed Width
(Pn522)
PSET detection
range
Target position
(TPOS)