7.2 Motion Parameter Details
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7.2.2 Motion Setting Parameter Details
The motion setting parameters are listed in the following tables.
Note:
: The labels shown in reverse type indicate that the parameter is enabled during the
corresponding control modes.
(1) RUN Commands
Position
OW
00
RUN Commands
Setting Range
Setting Unit
Default Value
−
−
0000H
OW
00
Bit 0
Servo ON
Set whether or not to turn ON (excite) the SERVOPACK.
0: Servo OFF (default)
1: Servo ON
Bit 1
Machine Lock
During the machine lock mode, the Target Position (CPOS) (monitoring parameter
IL
10) will be updated but no movement will occur on the axis. Changes to the
machine lock mode are valid after all pulses have been distributed. The machine lock
mode cannot be changed during speed or torque control.
0: Machine lock mode released (default)
1: Machine lock mode
Bit 4
Latch Request
Store the current position when the latch signal turns ON in the Machine Coordinate
Latch Position (monitoring parameter IL
18).
When latch detection is completed, the Latch Completed bit will turn ON in the Position
Management Status (monitoring parameter IW
0C, bit 2).
To perform latch detection again, change this bit from 0 to 1.
Set the latch signal to be used in the Latch Input Signal Type of Function 2 (setting
parameter OW
04, bits 0 to 3).
This function is achieved using the Servo command expansion area and can be executed
only with the MECHATROLINK-II, 32-byte Mode communication method. Do not
change this bit to 1 during execution of the motion commands for zero point return,
external positioning, or latching. Doing so may result in a warning at the SERVOPACK.
Conditions for Latch Request ON
• Latch Completion Signal (IB
0C2) is OFF
• The time prior to the latch signal turning ON is more than the required latch pro-
cessing time.
Note: Turn ON the Latch Request according to the required latch processing time
obtained from the following equation.
Latch processing time = Two scans + MECHATROLINK communication cycle
+ SERVOPACK processing time (4 ms max.)
0: Latch request OFF (default)
1: Latch request ON
Position
Phase
Speed
Torque
OB
004
Latch signal
IB
0C2