2.6 Servo Command I/O Signal (SVCMD_IO)
2.6.1 Bit Allocation of Servo Command Output Signals
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2.6
Servo Command I/O Signal (SVCMD_IO)
This section describes the servo command I/O signal monitoring.
2.6.1
Bit Allocation of Servo Command Output Signals
Byte 8 to byte 11 of the command format are specified as the SVCMD_IO (output) field.
The servo command output signals are signals output to the slave station.
Note that the designation in this field is valid even when a CMD_ALM has occurred.
SVCMD_IO (Output) Field
Details of Output Signal Bits
The following table shows the details of the output signal bits.
bit 7
bit 6
bit 5
bit 4
bit 3
bit 2
bit 1
bit 0
N_CL
P_CL
P_PPI
V_PPI
Reserved (0)
bit 15
bit 14
bit 13
bit 12
bit 11
bit 10
bit 9
bit 8
Reserved (0)
G-SEL
bit 23
bit 22
bit 21
bit 20
bit 19
bit 18
bit 17
bit 16
Reserved
SO3
SO2
SO1
BANK_SEL
bit 31
bit 30
bit 29
bit 28
bit 27
bit 26
bit 25
bit 24
Reserved (0)
bit
Name
Description
Value
Setting
Enabled
Timing
4
V_PPI
Speed Loop P/PI Control
0
PI control
Level
1
P control
Switches the speed control from PI control to P control.
Used for adjusting the settling time by suppressing overshoot during acceleration.
5
P_PPI
Position Loop P/PI Control
0
PI control
Level
1
P control
Switches the position control automatically from PI control to P control.
Used for shortening the settling time by suppressing overshoot during positioning move-
ment.
6
P_CL
Forward Torque Limit
0
Torque not
clamped
Level
1
Torque clamped
Used to select whether the forward torque is clamped or not according to the forward
torque limit (common parameter: 8C).
7
N_CL
Reverse Torque Limit
0
Torque not
clamped
Level
1
Torque clamped
Used to select whether the reverse torque is clamped or not according to the reverse torque
limit (common parameter: 8D).
Continued on next page.