10 (2) related parameters – Yaskawa Sigma-5 User Manual: MECHATROLINK-II Commands User Manual
Page 75
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4 Motion Commands for Operation
4.2.4 Interpolation Feeding (INTERPOLATE: 34H)
4-10
(2) Related Parameters
Either torque (force) feed forward (TFF) or torque (force) limit (TLIM) can be selected by setting the follow-
ing parameters.
Parameter
No.
Set Value
Meaning
Pn81F
n.1
Enables the torque (force) feed forward (TFF).
Pn002
n.2
Pn81F
n.1
Enables forward/reverse torque (force) limit using TLIM.
Pn002
n.1
Pn81F
n.1
When P_CL of OPTION field is set to 1: Uses TLIM as positive torque (force) limit.
When N_CL of OPTION field is set to 1: Uses TLIM as negative torque (force) limit.
Pn002
n.3
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