Yaskawa Sigma-5 User Manual: MECHATROLINK-II Commands - Manual (Page 91)

5 Command Related Parameters
5-2
5.1 Command Related Parameters List
This chapter describes the following parameters related to command actions.
Classification Parameter Name Description
Settings Accord-
ing to Machine
Pn20E, Pn210 Electronic Gear Ratio Sets the unit of position data.
Pn000 Direction Selection Sets the servomotor rotation direction.
Pn50A, Pn50B Overtravel Signal Setting
Sets the overtravel function and software
limit operation.
Pn801 Software Limit Function Setting
Pn804, Pn806 Software Limit
Pn808 Absolute Encoder Origin Offset
Sets the origin when using an absolute
encoder.
Motion Accelera-
tion/
Deceleration
Function Settings
Pn833 Motion Setting
Sets the acceleration/deceleration speed for
POSING, EX_POSING, FEED, ZRET,
HOLD commands
Pn80A, Pn834 1st Linear Acceleration Constant
Pn80B, Pn836 2nd Linear Acceleration Constant
Pn80C, Pn838
Acceleration Constant Switching
Speed
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
Sets the deceleration speed for HOLD,
SV_OFF commands.
Pn829 SVOFF Waiting Time
Pn810
Exponential Function Accelera-
tion/Deceleration Bias
Sets the position reference filter.
Pn811
Exponential Function Accelera-
tion/Deceleration Time Constant
Pn812 Movement Average Time
Motion Sequence
Setting
Pn814
Final Travel Distance for External
Positioning Sets the travel distance after the external
signal is input for positioning.
Pn816 Homing Mode Setting
Sets the homing operation.
Pn817, Pn818,
Pn842, Pn844
Homing Approach Speed
Pn819 Final Travel Distance for Homing
Command Data
Option Setting
Pn81F, Pn002
Torque (Force) Reference Options
for Speed/Position Control
Sets the usage of torque (force) limit and
torque (force) feed forward during position/
speed control.
Pn002
Pn407, Pn480 Speed Limit during Torque (Force)
Control Sets the usage of speed limit during torque
(force) control.
Pn81F,
Pn82A to Pn82E
OPTION Field Allocation
Selects function bits to be assigned in
OPTION field.
Position Data
Latch Function
Setting
Pn820, Pn822 Latching Allowable Area Sets the range to latch position data.
Pn850 Latch Sequence Number
Sets continuous latch operation executed by
LTMOD_ON command.
Pn851 Continuous Latch Count
Pn852, Pn853 Latch Sequence Signal Selection
Acceleration/
Deceleration
Parameter High-
speed Switching
Function Setting
Pn900 Parameter Bank Number
Sets the acceleration/deceleration parameter
high-speed switching function.
Pn901 Parameter Bank Member Number
Pn902 to Pn910
Parameter Bank Member Defini-
tion
Pn920 to Pn95F Parameter Bank Data