Yaskawa Sigma-5 User Manual: MECHATROLINK-II Commands - Manual (Page 79)

4 Motion Commands for Operation
4.2.6 Constant Speed Feeding (FEED: 36H)
4-14
Constant speed feeding is performed as illustrated below.
(2) Related Parameters
The parameters related to the execution of this command are listed below.
Parameter number in parentheses is when Pn833 = 1.
Set the parameters as shown below to use TLIM.
Command speed
TSPD
FEED command
Time
HOLD command
Parameter No. Name
Pn80A (Pn834) 1st Linear Acceleration Constant
Pn80B (Pn836) 2nd Linear Acceleration Constant
Pn80C (Pn838) Acceleration Constant Switching Speed
Pn81F Position Control Command TFF/TLIM Function Allocation
Pn002
Torque (Force) Reference Option During Speed/Position
Control
Parameter
No.
Set Value Meaning
Pn81F ††1†
Enables torque (force) limit (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