Yaskawa Sigma-5 User Manual: MECHATROLINK-II Commands - Manual (Page 75)

4 Motion Commands for Operation
4.2.4 Interpolation Feeding (INTERPOLATE: 34H)
4-10
(2) Related Parameters
Either torque (force) feed forward (TFF) or torque (force) limit (TLIM) can be selected by setting the follow-
ing parameters.
Parameter
No.
Set Value Meaning
Pn81F n.††1†
Enables the torque (force) feed forward (TFF).
Pn002 n.†††2
Pn81F n.††1†
Enables forward/reverse torque (force) limit using TLIM.
Pn002 n.†††1
Pn81F n.††1†
When P_CL of OPTION field is set to 1: Uses TLIM as positive torque (force) limit.
When N_CL of OPTION field is set to 1: Uses TLIM as negative torque (force) limit.
Pn002 n.†††3