16 (2) related parameters – Yaskawa Sigma-5 User Manual: MECHATROLINK-II Commands User Manual

Page 81

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4 Motion Commands for Operation

4.2.7 Interpolation Feeding with Position Detection (LATCH: 38H)

4-16

(2) Related Parameters

The parameters related to the execution of LATCH command are listed below.

Either torque (force) feed forward (TFF) or torque (force) limit (TLIM) can be selected by setting the follow-

ing parameters.

Parameter No.

Name

Pn820

Forward Latching Allowable Area

Pn822

Reverse Latching Allowable Area

Pn81F

Position Control Command TFF/TLIM Function Allocation

Pn002

Torque (Force) Reference Option during Speed/Position Control

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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