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4 MECHATROLINK-
II
Communications
4.5.2 Option Field Specifications: OPTION
4-56
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
0
0
0
ACCFIL
0
0
0
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.