Yaskawa Sigma-5 User Manual: MECHATROLINK-II Commands - Manual (Page 99)

5 Command Related Parameters
5.2.3 Motion Sequence Setting
5-10
5.2.3 Motion Sequence Setting
This section describes parameters related to the actions of EX_POSING and ZRET commands.
(1) Settings for EX_POSING Command
Set the travel distance from the external signal input position to the final target position for execution of an
EX_POSING command. If a negative value (distance to the negative direction) or a small value is set, the axis
will decelerate to a stop and then move to the reverse direction for positioning.
(2) Settings for ZRET Command
This section describes the parameters to set the following items for ZRET command.
• Pn816: Homing direction selection
• Pn817 or Pn842: Approach speed after the origin limit signal is input (DEC signal turns ON)
• Pn818 or Pn844: Approach (creep) speed after the latch signal is input
• Pn819: Final travel distance from the latch signal input position to the origin
∗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.
Information: Set Pn819 (Final Travel Distance for Homing) to a value that satisfies the following
equation.
When Pn816=n.†††0: Origin = Latch signal input position + Pn819
When Pn816=n.†††1: Origin = Latch signal input position – Pn819
Parameter
No.
Name
Data
Size
(byte)
Setting Range Unit
Factory
Setting
Pn814
Final Travel Distance for External Position-
ing
4
–1073741823 to
1073741823
Reference unit 100
Final Travel Distance for External Positioning (Pn814)
Latch signal
Parameter Meaning Factory Setting
Pn816
n.†††0 Forward direction homing
n.†††0
n.†††1 Reverse direction homing
Parameter
No.
Name
Data
Size
(byte)
Setting Range Unit
Factory
Setting
Pn817
Homing Approach Speed 1
*1
2 0 to 65535 100
reference units/s
50
Pn842 4 0 to 20971520 0
Pn818
Homing Approach Speed 2 *2
2 0 to 65535
100
reference units/s
5
Pn844 4 0 to 20971520 0
Pn819 Final Travel Distance for Homing 4
–1073741823 to
1073741823
Reference unit 100
Latch signal
Final Travel Distance for Homing (Pn819)
DEC
TSPD Homing Approach Speed 1 (Pn817 or Pn842)
Homing Approach Speed 2 (Pn818 or Pn844)