YASKAWA MECHATROLINK Sigma 2 Series User Manual

4 MECHATROLINK-II Communications
4.5.2 Option Field Specifications: OPTION
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4.5.2 Option Field Specifications: OPTION
The option field specifications (OPTION) can be designated using the following main com-
mands:
SV_ON, HOLD, INTERPOLATE, POSING, LATCH, EX_POSING, ZRET, FEED,
VELCTRL, TRQCTRL, SVCTRL
The option field is used to add motion command functions for individual products, with the
third to fourth byte reserved area of the above main commands.
Refer to the following table for details on bit allocation.
 Option Field
D7 D6 D5 D4 D3 D2 D1 D0
000 ACCFIL 000
D15 D14 D13 D12 D11 D10 D9 D8
N-CL P-CL 0 PPI 0 0 0 G-SEL
Bit Name Description Set
Value
Details
D0 0
D1 0
D2 0
D3 ACCFIL Position reference filter
Note: Never change position reference filter setting
during output (when DEN of STATUS is set to 0).
0 No position reference filter
1 Uses exponential position ref-
erence filter.
D4 2 Uses S-curve movement aver-
age position reference filter.
3 Do not set.
D5 0
D6 0
D7 0
D8 G-SEL Gain switching 0 First gain
1 Second gain
D9 0
D10 0
D11 0
D12 PPI Speed loop P/PI control 0 PI control
1 P control
D13
D14 P-CL Forward torque limit 0 Controls torque.
1 Does not control torque.
D15 N-CL Reverse torque limit 0 Controls torque.
1 Does not control torque.

YASKAWA MECHATROLINK Sigma 2 Series Specifications

General

Brand	YASKAWA
Model	MECHATROLINK Sigma 2 Series
Category	Control Unit
Language	English