Yaskawa Sigma-5 User Manual: MECHATROLINK-II Commands - Manual (Page 65)

3 Commands for Preparation Process
3.2.18 Monitor and Adjust Settings (ADJ: 3EH)
3-34
Speed/Torque (Force) Data Normalization
The following data used in position, speed, or torque (force) control commands will be normalized:
Speed data: VREF, VLIM :[maximum motor speed/40000000H]
Torque (force) data: TFF/P_TLIM/N_TLIM/TLIM [maximum motor torque (force)/4000H]
TQREF [maximum motor torque (force)/40000000H]
The maximum motor speed and maximum motor torque (force) used in the above data can be obtained by
the following equations.
Maximum motor speed = C027H reference value ×10 C01EH reference value
[Rotational servomotor: min
-1
,
Linear servomotor: mm/s]
Maximum motor torque (force) = C01FH reference value ×10 C021H reference value × E701H reference
value/100 [Rotational servomotor: N.m, Linear servomotor: N]