Yaskawa Sigma-5 User Manual: MECHATROLINK-II Commands - Manual (Page 89)

4 Motion Commands for Operation
4.2.11 Torque (Force) Control (TRQCTRL: 3DH)
4-24
(2) Speed Limit Option 1
„ When Using a Rotational Servomotor
Use Pn407 (Speed Limit during Torque Control) to set the speed limit.
Note: If a speed higher than the maximum speed of the connected servomotor is set, the servomotor speed will be limited
to its maximum speed.
„ When Using a Linear Servomotor
Use Pn480 (Speed Limit during Force Control) to set the speed limit.
Note: If a speed higher than the maximum speed of the connected linear servomotor is set, the linear servomotor speed will
be limited to its maximum speed.
(3) Speed Limit Option 2
Set the following parameter to enable VLIM (Speed Limit) specified in TRQCTRL command.
Pn407
Speed Limit during Torque Control
Setting Range Unit Factory Setting When Enabled
0 to 10000 1 min
-1 10000 Immediately
Pn480
Speed Limit during Force Control
Setting Range Unit Factory Setting When Enabled
0 to 5000 mm/s 5000 Immediately
Parameter Description
Pn002
n.††0† Disables VLIM. (factory setting)
n.††1† Enables VLIM (Uses VLIM as the speed limit.)