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Using This Manual
Technical Terms Used in This Manual
The following terms are used in this manual.
Differences in Terms for Rotary Servomotors and Linear Servomotors
There are differences in the terms that are used for Rotary Servomotors and Linear Servomotors.
This manual primarily describes Rotary Servomotors. If you are using a Linear Servomotor, you
need to interpret the terms as given in the following table.
Basic Term
Meaning
Transmission Cycle
The transmission cycle is the cycle in the MAC (Media Access Control) layer. It is the
communication cycle for physically sending data to the transmission path. The transmis-
sion cycle is unaffected by the services provided by the application layer.
Communication Cycle
The communication cycle is the cycle for application layer. The communication cycle is
set to an integral multiple of the transmission cycle.
Synchronous Commands
(Classification S)
For commands of this type, commands are sent and response are received every com-
munication cycle.
The WDT (Watchdog Timer) in the frames are refreshed and checked every communica-
tion cycle. Synchronous commands can be used only during synchronous communica-
tions (Phase 3).
Asynchronous Com-
mands (Classification A)
For commands of this type, commands are sent and response are received asynchro-
nously to the communication cycle.
Subsequent commands can be sent after confirming the completion of processing of the
slave station that received the command.
The WDT (Watchdog Timer) in the frames are not checked.
Common Commands
Commands that are common for MECHATROLINK-III communications, independent of
profiles
Servo Commands
Commands that are defined in the standard servo profile and specific to SERVOPACKs
Motion Commands
Among servo commands, the following commands are called motion commands.
INTERPOLATE, POSING, FEED, EX_FEED, EX_POSING, ZRET, VELCTRL, and TRQC-
TRL
Be sure that you fully understand each command and use the commands in the order appropri-
ate for your application.
Incorrect usage of the commands can result not only unexpected motions, but in a serious acci-
dent.
Special care and verification must be taken for usage of the commands in order to avoid acci-
dents.
Be sure to also establish safety measures for the system.
This manual does not apply to users who use MP-series motion controllers for controlling
Σ
-
7
-
Series SERVOPACKs.
Rotary Servomotors
Linear Servomotors
torque
force
moment of inertia
mass
rotation
movement
forward rotation and reverse rotation
forward movement and reverse movement
CW and CCW pulse trains
forward and reverse pulse trains
rotary encoder
linear encoder
absolute rotary encoder
absolute linear encoder
incremental rotary encoder
incremental linear encoder
unit: min
-1
unit: mm/s
unit: N·m
unit: N
Important