Yaskawa Sigma-5 User Manual: MECHATROLINK-II Commands - Manual (Page 52)

3.2 Commands Details
3-21
3
Commands for Preparation Process
(2) OPTION Field Specifications
The option field is used to add functions to a motion command.
• Applicable Commands
SV_ON, HOLD, INTERPOLATE, POSING, FEED, LATCH, EX_POSING, ZRET, VELCTRL, TRQCTRL,
SVCTRL
Set the functions to be added to a motion command in the main command third and forth bytes reserved for the
option field.
The option field of the Σ-V series SERVOPACK is set by default as shown below.
To change the default setting, set the parameter Pn81F as Pn81F = †††1, and set the bits to which functions
are to be allocated using the parameters Pn82A to Pn82E. The change must be validated by turning the power
supply OFF and then ON again or by sending a CONFIG command.
• OPTION Field Default Setting
• Functions That Can Be Allocated to Bits of the OPTION Field
D7 D6 D5 D4 D3 D2 D1 D0
0 0 0 ACCFIL 0 0 0
D15 D14 D13 D12 D11 D10 D9 D8
N_CL P_CL P_PI_CLR V_PPI 0 0 G_SEL
Name Description Value Details
Default
Setting
ACCFIL
(2 bits)
Acceleration/Deceleration filter
0 No acceleration/deceleration filter
D3, D4
1
Exponential function acceleration/decel-
eration
2 S-curve acceleration/deceleration
3 Do not set.
G_SEL
(2 bits)
Gain switching
0 First gain
D8, D9
1 Second gain
2 Reserved (invalid)
3 Reserved (invalid)
V_PPI
(1 bit)
Speed loop P/PI control
0 PI control
D12
1 P control
P_PI_CLR
(1 bit) Position loop position integral
clear
0 Does not clear.
D13
1 Clears.
P_CL
(1 bit)
Forward torque (force) limit
0 Does not control torque (force).
D14
1 Controls torque (force).
N_CL
(1 bit)
Reverse torque (force) limit
0 Does not control torque (force).
D15
1 Controls torque (force).
LT_DISABLE
(1 bit)
Latch signal input disabled
0 Enables latch signal input.
Not allocated
1 Disables latch signal input.
BANK_SEL1
(4 bits)
Bank selector 1
(Bank for acceleration/decelera-
tion parameter switching)
0 to
15
Bank 0 to Bank 15 Not allocated