Yaskawa Sigma-5 User Manual: MECHATROLINK-II Commands - Manual (Page 83)

4 Motion Commands for Operation
4.2.8 External Input Positioning (EX_POSING: 39H)
4-18
(2) Operation
The operation executed by EX_POSING command is illustrated below.
(3) Related Parameters
The parameters related to the execution of EX_POSING command are listed below.
Parameter number in parentheses is when Pn833 = 1.
Set the parameters as shown below to use TLIM.
When the latch signal is input
Positioning to the position: Latch signal input position LPOS + Final
Travel Distance for External Positioning (Pn814)
When the latch signal is not input
Positioning to the specified target position TPOS
Latch signal
Parameter No. Name Parameter No. Name
Pn80A (Pn834)
1st Linear Acceleration Con-
stant
Pn80F (Pn83E) Deceleration Constant Switching Speed
Pn80B (Pn836)
2nd Linear Acceleration Con-
stant
Pn814 Final Travel Distance for External Positioning
Pn80C (Pn838)
Acceleration Constant
Switching Speed
Pn820 Forward Latching Allowable Area
Pn80D (Pn83A)
1st Linear Deceleration Con-
stant
Pn822 Reverse Latching Allowable Area
Pn80E (Pn83C)
2nd Linear Deceleration Con-
stant
Pn81F
Position Control Command TLIM Function Allo-
cation
– – Pn002
Torque (Force) Reference Option during Speed/
Position Control
Parameter
No.
Set Value Meaning
Pn81F n.††1†
Enables positive/negative torque (force) limit (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