Yaskawa Sigma-5 User Manual: MECHATROLINK-II Commands Manual de usuario Pagina 99
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5 Command Related Parameters
5.2.3 Motion Sequence Setting
5-10
5.2.3 Motion Sequence Setting
This section describes parameters related to the actions of EX_POSING and ZRET commands.
(1) Settings for EX_POSING Command
Set the travel distance from the external signal input position to the final target position for execution of an
EX_POSING command. If a negative value (distance to the negative direction) or a small value is set, the axis
will decelerate to a stop and then move to the reverse direction for positioning.
(2) Settings for ZRET Command
This section describes the parameters to set the following items for ZRET command.
• Pn816: Homing direction selection
• Pn817 or Pn842: Approach speed after the origin limit signal is input (DEC signal turns ON)
• Pn818 or Pn844: Approach (creep) speed after the latch signal is input
• Pn819: Final travel distance from the latch signal input position to the origin
∗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.
Information: Set Pn819 (Final Travel Distance for Homing) to a value that satisfies the following
equation.
When Pn816=n.0: Origin = Latch signal input position + Pn819
When Pn816=n.1: Origin = Latch signal input position – Pn819
Parameter
No.
Name
Data
Size
(byte)
Setting Range Unit
Factory
Setting
Pn814
Final Travel Distance for External Position-
ing
4
–1073741823 to
1073741823
Reference unit 100
Final Travel Distance for External Positioning (Pn814)
Latch signal
Parameter Meaning Factory Setting
Pn816
n.0 Forward direction homing
n.0
n.1 Reverse direction homing
Parameter
No.
Name
Data
Size
(byte)
Setting Range Unit
Factory
Setting
Pn817
Homing Approach Speed 1
*1
2 0 to 65535
100
reference units/s
50
Pn842 4 0 to 20971520 0
Pn818
Homing Approach Speed 2
*2
2 0 to 65535
100
reference units/s
5
Pn844 4 0 to 20971520 0
Pn819 Final Travel Distance for Homing 4
–1073741823 to
1073741823
Reference unit 100
Latch signal
Final Travel Distance for Homing (Pn819)
DEC
TSPD
Homing Approach Speed 1 (Pn817 or Pn842)
Homing Approach Speed 2 (Pn818 or Pn844)
- 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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