Yaskawa Sigma-5 User Manual: MECHATROLINK-II Commands Manual do Utilizador Página 96
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5.2 Command Related Parameters Details
5-7
5
Command Related Parameters
Acceleration/Deceleration Parameters when Pn833=n.1
Note: If the deceleration distance exceeds 1073741823 reference units during positioning, the motor cannot be accelerated
to the target speed TSPD specified in the motion command. Set the parameter for deceleration speed to a value that
satisfies the following equation.
Deceleration speed [reference unit/s
2
]≥Max. command speed
2
[reference unit/s] / (Max. deceleration distance [ref-
erence unit] × 2)
(2) Position Reference Filter
A filter can be applied to the position reference output of a positioning command such as INTERPOLATE,
LATCH, POSING, FEED, EX_POSINT, ZRET, and HOLD.
Position Reference Filter Setting Parameters
Parameter
No.
Name
Data
Size
(byte)
Setting Range Unit
Factory
Setting
Pn834 1st Linear Acceleration Constant 2 4 1 to 20971520
10000
reference units/s
2
100
Pn836 2nd Linear Acceleration Constant 2 4 1 to 20971520
10000
reference units/s
2
100
Pn838 Acceleration Constant Switching Speed 2 4 0 to 2097152000 Reference unit/s 0
Pn83A 1st Linear Deceleration Constant 2 4 1 to 20971520
10000
reference units/s
2
100
Pn83C 2nd Linear Deceleration Constant 2 4 1 to 20971520
10000
reference units/s
2
100
Pn83E Deceleration Constant Switching Speed 2 4 0 to 2097152000 Reference unit/s 0
Pn840 Linear Deceleration Constant 2 for Stopping 4 0 to 20971520
10000
reference units/s
2
100
Parameter
No.
Name
Data
Size
(byte)
Setting Range Unit
Factory
Setting
Pn810
Exponential Function Acceleration/Decelera-
tion Bias
2 0 to 65535
100 reference
units/s
0
Pn811
Exponential Function Acceleration/Decelera-
tion Time Constant
2 0 to 5100 0.1 ms 0
Pn812 Movement Average Time 2 0 to 5100 0.1 ms 0
Pn811
Pn810
: Before filter
: After filter
Exponential Function Acceleration/Deceleration Curve
DEN
Pn812
Movement Average Time Curve
Pn812
DEN
: Before filter
: After filter
- 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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