Yaskawa Sigma-5 User Manual: MECHATROLINK-II Commands - Manual (Page 87)

4 Motion Commands for Operation
4.2.10 Velocity Control (VELCTRL: 3CH)
4-22
(2) Soft Start Function
The soft start function converts input speed references from sudden step progression to steady diagonal pro-
gression. Set the acceleration speed and deceleration speed in the following parameters.
Use this function to achieve a smooth speed control in speed control mode (excluding internal set speed selec-
tion).
Note: For normal speed control, set Pn305 and Pn306 to 0 (factory setting).
(3) Torque (Force) Reference Option
The settings of the parameters related to the torque (force) reference option for VELCTRL command are listed
below.
Pn305
Soft Start Acceleration Time: Time of period the motor speed reaches the maximum from zero
(the stop status)
Setting Range Unit Factory Setting When Enabled
0 to 10000 1 ms 0 Immediately
Pn306
Soft Start Deceleration Time: Time of period the motor speed decreases to zero (stop status) from
the maximum.
Setting Range Unit Factory Setting When Enabled
0 to 10000 1 ms 0 Immediately
Before soft-start
After soft-start
Max. motor speed
Pn305 Pn306
Parameter Description
Pn002
n.†††0 The set values of P_TLIM and N_TLIM are invalid. (factory setting)
n.†††1 Uses the set value of P_TLIM/N_TLIM as forward/reverse torque (force) limit.
n.†††2 Uses TFF as the torque (force) feed forward. Set N_TLIM to 0.
n.†††3
When P_CL of OPTION field is set to 1, uses P_TLIM as the torque (force) limit.
When N_CL of OPTION field is set to 1, uses N_TLIM as the torque (force) limit.