7.2 Motion Parameter Details
7-13
7
(6) Function 3
(7) Motion Command
OW
05
Function 3
Setting Range
Setting Unit
Default Value
−
−
0000H
OW
05
Bit 1
Close Position Loop Using OL
16
Disables/enables phase reference generation processing when executing phase refer-
ence commands. Enable this processing when an electronic shaft is being used, and
disable it when a electronic cam is being used.
0: Enabled (default)
1: Disabled
Speed feed forward control cannot be used for the SGD-N or SGDB-N SERVOPACK,
so Close Position Loop Using OL
16 cannot be used.
Bit B
INPUT Signal for Zero Point Return
Use this bit as an input signal for the INPUT & C pulse or INPUT Only method.
0: INPUT signal OFF (default)
1: INPUT signal ON
OW
08
Motion Command
Setting Range
Setting Unit
Default Value
0 to 26
−
0
Set motion commands.
0: NOP
No command
1: POSING
Positioning
2: EX_POSING
External Positioning
3: ZRET
Zero Point Return
4: INTERPOLATE
Interpolation
5: ENDOF_INTERPOLATE
Reserved by system.
6: LATCH
Latch
7
:
FEED
JOG Operation
8: STEP
STEP Operation
9: ZSET
Zero Point Setting
10: ACC
Change One-step Linear Acceleration Time Constant
11
:
DCC
Change One-step Linear Deceleration Time Constant
12
:
SCC
Change Filter Time Constant
13: CHG_FILTER
Change Filter Type
14: KVS
Change Speed Loop Gain
15: KPS
Change Position Loop Gain
16: KFS
Change Feed Forward
17
:
PRM_RD
Read SERVOPACK Parameter
18
:
PRM_WR
Write SERVOPACK Parameter
19
:
ALM_MON
Monitor SERVOPACK Alarms
20: ALM_HIST
Monitor SERVOPACK Alarm History
21
:
ALMHIST_CLR
Clear SERVOPACK Alarm History
22: ABS_RST
Reset Absolute Encoder
23: VELO
Speed Reference
24
:
TRQ
Torque Reference
25
:
PHASE
Phase Reference
26: KIS
Change Position Loop Integration Time Constant
Refer to
Chapter 8 Motion Commands
for details.
Position
Phase
Speed
Torque
Position
Phase
Speed
Torque