Yaskawa Sigma-5 User Manual: MECHATROLINK-II Commands - Manual (Page 102)

5.2 Command Related Parameters Details
5-13
5
Command Related Parameters
„ Internal Speed Limit
This method always limits the servomotor speed to either of the following set parameter values.
„ Speed Limit by Torque (Force) Control Command TRQCTRL
This method limits the speed by setting a desired speed limit value in the command data (VLIM).
[Setting Parameter]
Set the following parameter to use the speed limit set in TRQCTRL command.
(4) OPTION Field Allocation
The commands can be allocated to the OPTION field using the following parameters. To change the factory
setting, set Pn81F = †††1 and allocate the function bits using parameters Pn82A to Pn82E. The setting will
be validated by turning the power supply OFF and then ON again, or by executing CONFIG.
[Setting Parameters]
Parameter
No.
Name
Data
Size
(byte)
Setting Range Unit
Factory
Setting
Pn407
Speed Limit during Toque Control (For rota-
tional servomotors)
2 0 to 10000 min -1 10000
Pn480
Speed Limit during Force Control (For linear
servomotors)
2 0 to 10000 mm/s 10000
Pn002
Torque (Force) Reference Option
n.††0† Disables the speed limit set in the VLIM. (Factory setting)
n.††1† Enables the speed limit set in the VLIM.
Parameter
Name Setting Range
Factory
Setting
No. Digit
Pn81F Command Data Allocation 0000h to 0011h 0000h
0
OPTION Field Allocation
0 or 1 0 0 Disables OPTION field allocation.
1 Enables OPTION field allocation.
Pn82A OPTION Field Allocation 1 0000H to 1E1EH 1813H
0 0 to E ACCFIL bit position 3
1
0 Disables ACCFIL bit allocation.
1
1 Enables ACCFIL bit allocation.
2 0 to E GSEL bit position 8
3
0 Disables GSEL bit allocation.
1
1 Enables GSEL bit allocation.
Pn82B OPTION Field Allocation 2 0000H to 1F1FH 1D1CH
0 0 to F V_PPI bit position C
1
0 Disables V_PPI bit allocation
1
1 Enables V_PPI bit allocation.
2 0 to F P_PI_CLR bit position D
3
0 Disables P_PI_CLR bit allocation.
1
1 Enables P_PI_CLR bit allocation.