11.3 Motion Commands
11-19
11
(b) Related Parameters
• Setting Parameters
• Monitoring Parameters
Parameter
Name
Setting
OB
000
Servo ON
Turn the power to the Servomotor ON and OFF.
1: Servo ON to Servomotor, 0: Power OFF to Servomotor
Turn ON the power before setting the Motion Command (OW
08) to 1.
OW
03
Function 1
Set the speed unit, acceleration/deceleration unit, and filter type.
OW
08
Motion Command
The positioning starts when this parameter is set to 1. The operation will be
canceled if this parameter is set to 0 during POSING command execution.
OB
090
Command Pause
The axis will decelerate to a stop if this bit is set to 1 during POSING
command execution. The positioning operation will restart if this bit is set to 0
when a command is being held.
OB
091
Command Abort
The axis will decelerate to a stop if this bit is set to 1 during POSING
command execution. When this bit is set to 0 after stopping the operation
depends on the setting of the Position Reference Type (OB
095).
OB
095
Position Reference
Type
Switch the type of position reference.
0: Incremental addition mode, 1: Absolute mode
Set this bit before setting the Motion Command (OW
08) to 1.
OL
10
Speed Reference
Specify the speed for the positioning. This setting can be changed during
operation. The unit depends on the setting of OW
03.
OL
1C
Position Reference
Type
Set the target position for positioning. This setting can be changed during
operation. The meaning of the setting depends on the status of OB
095.
OL
36
Linear Acceleration
Time
Set the rate of acceleration or acceleration time constant for positioning.
OL
38
Linear Deceleration
Time
Set the rate of deceleration or deceleration time constant for positioning.
OW
3A
S-Curve Acceleration
Time
Set the acceleration/deceleration filter time constant. Exponential
acceleration/deceleration or a moving average filter can be selected in
OW
03.
Change the setting only after pulse distribution has been completed for the
command (IB
0C0 is ON).
Parameter
Name
Monitor Contents
IB
001
Servo ON
Indicates the Servo ON status.
ON: Power supplied to Servomotor, OFF: Power not supplied to Servomotor
IL
02
Warning
Stores the most current warning.
IL
04
Alarm
Stores the most current alarm.
IW
08
Servo Command Type
Response
Indicates the motion command that is being executed.
The response code will be 1 during POSING command execution.
IB
090
Command Executing
Turns ON when abort processing is being performed for POSING command.
Turns OFF when abort processing has been completed.
IB
091
Command Hold
Completed
Turns ON when a deceleration to a stop has been completed as the result of
setting the Command Pause bit (OB
090) to 1 during POSING command
execution.
IB
093
Command Error End
Turns ON if an error occurs during POSING command execution. The axis
will decelerate to a stop if it is moving. Turns OFF when another command is
executed.
IB
098
Command Execution
Completed
Always OFF for POSING command. Use the Positioning Completed bit
(IB
0C1) to confirm completion of this command.
IB
0C0
Distribution Completed
Turns ON when pulse distribution has been completed for the move
command.
Turns OFF during execution of pulse distribution.
IB
0C1
Positioning Completed
Turns ON when pulse distribution has been completed and the current position
is within the Positioning Completed Width. OFF in all other cases.
IB
0C3
Position Proximity
Turns ON when Distribution Completed (DEN) turns ON.