Yaskawa Sigma-5 User Manual: MECHATROLINK-II Commands - Manual (Page 81)

4 Motion Commands for Operation
4.2.7 Interpolation Feeding with Position Detection (LATCH: 38H)
4-16
(2) Related Parameters
The parameters related to the execution of LATCH command are listed below.
Either torque (force) feed forward (TFF) or torque (force) limit (TLIM) can be selected by setting the follow-
ing parameters.
Parameter No. Name
Pn820 Forward Latching Allowable Area
Pn822 Reverse Latching Allowable Area
Pn81F Position Control Command TFF/TLIM Function Allocation
Pn002 Torque (Force) Reference Option during Speed/Position Control
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