Yaskawa Sigma-5 User Manual: MECHATROLINK-II Commands - Manual (Page 85)

4 Motion Commands for Operation
4.2.9 Homing (ZRET: 3AH)
4-20
(2) Operation
The motion executed by ZRET command is illustrated below.
(3) Related Parameters
The parameters related to ZRET command are listed below.
Parameter number in parentheses is when Pn833 = 1.
∗1. The value of Pn842 is effective only when the value of Pn817 is 0.
∗2. The value of Pn844 is effective only when the value of Pn818 is 0.
Set the parameters as shown below to use TLIM.
Latch signal
DEC
Reference speed
Homing Approach Speed 1 (Pn817 or Pn842)
Homing Approach Speed 2 (Pn818 or Pn844)
Final Travel Distance for Homing (Pn819)
Parameter No. Name Parameter No. Name
Pn816 Homing Direction Pn002
Torque (Force) Reference Option during
Speed/Position Control
Pn817
Homing Approach Speed 1 *1
Pn80A (Pn834) 1st Linear Acceleration Constant
Pn842 Pn80B (Pn836) 2nd Linear Acceleration Constant
Pn818
Homing Approach Speed 2 *2
Pn80C (Pn838) Acceleration Constant Switching Speed
Pn844 Pn80D (Pn83A) 1st Linear Deceleration Constant
Pn819 Final Travel Distance for Homing Pn80E (Pn83C) 2nd Linear Deceleration Constant
Pn820 Forward Latching Allowable Area Pn80F (Pn83E) Deceleration Constant Switching Speed
Pn822 Reverse Latching Allowable Area Pn81F
Position Control Command TLIM Func-
tion Allocation
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