Yaskawa Sigma-5 User Manual: MECHATROLINK-II Commands - Manual (Page 107)

5 Command Related Parameters
5.2.6 Acceleration/Deceleration Parameter High-speed Switching Function
5-18
5.2.6 Acceleration/Deceleration Parameter High-speed Switching Function
This function switches, at high-speed, the acceleration/deceleration parameters that are used for positioning
executed by the POSING, FEED, EX_POSING, ZRET, or HOLD commands.
Register the acceleration/deceleration parameter settings in a bank before starting operation, and execute the
bank selector BANK_SEL to switch the acceleration/deceleration parameter settings to those of the registered
bank.
[Bank Selector Allocation]
Allocate the following bank selector BANK_SEL1 in the OPTION field. (The allocation is disabled by
default. Refer to (5) OPTION Field Specifications of chapter 7 Data Field for details on bit allocation meth-
ods.)
[Parameter Bank Setting]
Set the following parameters.
∗ The parameters Pn920 to Pn95F will not be stored in the non-volatile memory. They need to be set every time the
power is turned ON.
[Parameters that Can be Registered as Bank Members]
The following parameters can be registered as parameter bank members among parameters Pn902 to Pn910.
For 4-byte parameters, one parameter must be registered as two consecutive members.
(See Setting Example 2.)
Name Description Setting Data
BANK_SEL1 Bank selector Bank 0 to 15
Parameter No. Name
Data
Size
(byte)
Setting Range
Factory
Setting
Pn900 Parameter Bank Number 2 0 to 16 0
Pn901 Parameter Bank Member Number 2 0 to 15 0
Pn902 to Pn910 Parameter Bank Member Definition 2 0000H to 08FFH 0
Pn920 to Pn95F * Parameter Bank Data 2
0000H to FFFFH
Depends on bank member.
0
Parameter
No.
Name
Data
Size
(byte)
Setting Range Unit
Factory
Setting
Pn80A 1st Linear Acceleration Constant 1 2 1 to 65535
10000
reference units/s 2
100
Pn80B 2nd Linear Acceleration Constant 1 2 1 to 65535
10000
reference units/s 2
100
Pn80C Acceleration Constant Switching Speed 1 2 0 to 65535
100 reference
units/s
0
Pn80D 1st Linear Deceleration Constant 1 2 1 to 65535
10000
reference units/s 2
100
Pn80E 2nd Linear Deceleration Constant 1 2 1 to 65535
10000
reference units/s 2
100
Pn80F Deceleration Constant Switching Speed 1 2 0 to 65535
100 reference
units/s
0
Pn834 1st Linear Acceleration Constant 2 4 1 to 20971520
10000
reference units/s 2
100
Pn836 2nd Linear Acceleration Constant 2 4 1 to 20971520
10000
reference units/s 2
100
Pn838 Acceleration Constant Switching Speed 2 4 0 to 2097152000 Reference unit/s 0