Yaskawa Sigma-5 User Manual: MECHATROLINK-II Commands - Manual (Page 69)

4 Motion Commands for Operation
4.2.1 Stop Motion (HOLD: 25H)
4-4
(2) Related Parameters
Deceleration is specified by the following parameters.
Parameter number in parenthesis is when Pn833 = 1.
Parameter No. Name
Pn80D (Pn83A) 1st Linear Deceleration Constant
Pn80E (Pn83C) 2nd Linear Deceleration Constant
Pn80F (Pn83E) Deceleration Constant Switching Speed
Pn827 (Pn840) Linear Deceleration Constant for Stopping