Yaskawa Sigma-5 User Manual: MECHATROLINK-II Commands Instrukcja Użytkownika Strona 85
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4 Motion Commands for Operation
4.2.9 Homing (ZRET: 3AH)
4-20
(2) Operation
The motion executed by ZRET command is illustrated below.
(3) Related Parameters
The parameters related to ZRET command are listed below.
Parameter number in parentheses is when Pn833 = 1.
∗1. The value of Pn842 is effective only when the value of Pn817 is 0.
∗2. The value of Pn844 is effective only when the value of Pn818 is 0.
Set the parameters as shown below to use TLIM.
Latch signal
DEC
Reference speed
Homing Approach Speed 1 (Pn817 or Pn842)
Homing Approach Speed 2 (Pn818 or Pn844)
Final Travel Distance for Homing (Pn819)
Parameter No. Name Parameter No. Name
Pn816 Homing Direction Pn002
Torque (Force) Reference Option during
Speed/Position Control
Pn817
Homing Approach Speed 1
*1
Pn80A (Pn834) 1st Linear Acceleration Constant
Pn842 Pn80B (Pn836) 2nd Linear Acceleration Constant
Pn818
Homing Approach Speed 2
*2
Pn80C (Pn838) Acceleration Constant Switching Speed
Pn844 Pn80D (Pn83A) 1st Linear Deceleration Constant
Pn819 Final Travel Distance for Homing Pn80E (Pn83C) 2nd Linear Deceleration Constant
Pn820 Forward Latching Allowable Area Pn80F (Pn83E) Deceleration Constant Switching Speed
Pn822 Reverse Latching Allowable Area Pn81F
Position Control Command TLIM Func-
tion Allocation
Parameter
No.
Set Value Meaning
Pn81F n.1
Enables positive/negative 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
- Σ-V Series 1
- About this Manual 3
- Warranty 4
- (3) Suitability for Use 5
- (4) Specifications Change 5
- Contents 6
- 1.1.1 Layers 10
- 1.1.2 Frame Structure 10
- MECHATROLINK-II Commands 11
- 1.1.4 Terminology 12
- 1 MECHATROLINK-II Commands 14
- 1.4 Data Order 17
- Operation Sequence 18
- 2.1 Preparing for Operation 19
- Setting the Station Address 20
- 2 Operation Sequence 21
- -J11) are Used 23
- (1) Operation Procedure 25
- Controller 26
- 2.3.1 Setup Sequence 27
- POS: Reference position 31
- 3.2.1 No Operation (NOP: 00H) 34
- (4) Details WDT and RWDT 36
- (1) DISCONNECT Command (0FH) 37
- (1) CONNECT Command (0EH) 38
- (2) Details of COM_MOD 39
- (1) SYNC_SET Command (0DH) 40
- (1) ID_RD Command (03H) 41
- (2) Device ID Specifications 42
- ID_RD aSGDV2R9E11A00 43
- ID_RD bSGDV131J11A00 44
- (1) PRM_WR Command (02H) 45
- (1) PPRM_WR Command (1CH) 46
- (1) CONFIG Command (04H) 47
- (1) SENS_ON Command (23H) 48
- • Applicable Commands: 50
- (1) SV_ON Command (31H) 51
- 3.2 Commands Details 52
- (1) SENS_OFF Command (24H) 54
- (1) SV_OFF Command (32H) 55
- (1) PRM_RD Command (01H) 56
- (1) SMON Command (30H) 57
- (1) ALM_RD Command (05H) 58
- (2) ALM_RD_MOD Specifications 59
- (1) ALM_CLR Command (06H) 60
- (1) POS_SET Command (20H) 61
- (2) PS_SUBCMD Specifications 61
- (1) ADJ Command (3EH) 62
- C01EH reference value 65
- C021H reference value 65
- Motion Commands for Operation 66
- 4.1 Motion Commands List 67
- 4.2.1 Stop Motion (HOLD: 25H) 68
- (2) Related Parameters 69
- (1) LTMOD_ON Command (28H) 70
- (2) Normal Latch Mode 70
- (3) Continuous Latch Mode 71
- (4) LT_SGNL Specifications 72
- (5) Related Parameters 72
- (1) LTMOD_OFF Command (29H) 73
- (1) INTERPOLATE Command (34H) 74
- (1) POSING Command (35H) 76
- (1) FEED Command (36H) 78
- (1) LATCH Command (38H) 80
- (1) EX_POSING Command (39H) 82
- (2) Operation 83
- (3) Related Parameters 83
- 4.2.9 Homing (ZRET: 3AH) 84
- (1) VELCTRL Command (3CH) 86
- Before soft-start 87
- After soft-start 87
- Max. motor speed 87
- Pn305 Pn306 87
- (1) TRQCTRL (3DH) 88
- (2) Speed Limit Option 1 89
- (3) Speed Limit Option 2 89
- 5.2.1 Electronic Gear Setting 93
- Position 94
- (2) Position Reference Filter 96
- 5.2.3 Motion Sequence Setting 99
- 5.2.4 Command Data Options 100
- 5 Command Related Parameters 101
- 5.2.4 Command Data Options 101
- (4) OPTION Field Allocation 102
- (1) Latching Allowable Area 104
- (2) Continuous Latch Function 104
- Command Related Parameters 106
- NEAR Signal Width Setting 111
- (3) Option Monitor Setting 113
- MECHATROLINK-II Subcommands 114
- 6.2.1 No Operation (NOP: 00H) 115
- Data Field 120
- 7.1 Main Command Data Field 121
- (1) Applicable Commands 123
- (2) Setting Method 125
- Applicable Commands 126
- 7.1.6 LT_SGNL Specifications 128
- 7.2 Substatus Data Field 129
- Communications or Commands 130
- 8.1 List of Alarms 131
- 8.1 List of Alarms 132
- 8.2 List of Warnings 133
- 8.2 List of Warnings 134
- Appendix 136
- A Brake Control Commands 137
- • Sub-control (SUBCTRL) 139
- Select Motion (MOTION) 140
- Select Latch Signal (L_SGN) 140
- • Sequence Signals: SQ_CMD 140
- Revision History 141
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