3.2 Servo Commands
3.2.19 Motion Command Data Setting Method
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3.2.19
Motion Command Data Setting Method
This subsection provides information on the settings of the following data fields of the motion
commands: TSPD, VREF, VFF, TREF, TFF, TLIM, VLIM, ACCR and DECR.
Name
Description
Setting
CMD_ALM
Warning
Code
Operation for the Setting
TSPD
Target
speed
FEED, EX_FEED: Set signed 4-byte data.
–Maximum commandable
speed
*1
to + Maximum com-
mandable speed
0h
Normal
Operates according to the setting.
Other than above
9h
A.94B
Ignores the command and continues the previous
command.
POSING, EX_POSING, ZRET: Set unsigned 4-byte data.
0 to Maximum command-
able speed
and also
TSPD
≤
7FFFFFFFFh
0h
Normal
Operates according to the setting.
Other than above
9h
A.94B
Ignores the command and continues the previous
command.
VREF
VFF
Velocity
reference,
Velocity
feedforward
value
Set signed 4-byte data.
–Maximum output speed
*2
to +Maximum output speed
0h
Normal
Operates according to the setting.
Other than above
1h
A.97B
Operates with the speed clamped at the maximum
output speed.
TQREF
TFF
Torque
reference,
Torque
feedforward
value
Set signed 4-byte data.
–Maximum torque to
+Maximum torque
0h
Normal
Operates according to the setting.
Other than above
1h
A.97B
Operates with the torque clamped at the maximum
torque.
TLIM
Torque limit
Set the limit with unsigned 4-byte data.
0 to Maximum torque
0h
Normal
Operates according to the setting.
Maximum torque or greater
1h
A.97B
Operates with the torque clamped at the maximum
torque.
80000000h to FFFFFFFEh
1h
A.97B
SERVOPACK processes as TLIM = 7FFFFFFFh inter-
nally.
FFFFFFFFh
0h
Normal
No torque limit applies.
(The torque is clamped at the maximum torque and
the alarm CMD_ALM does not occur.)
VLIM
Speed limit
Set the limit with unsigned 4-byte data.
0 to Maximum output
speed
*2
0h
Normal
Operates according to the setting.
Maximum output speed or
greater
1h
A.97B
Operates with the speed clamped at the maximum
output speed.
80000000h to FFFFFFFEh
1h
A.97B
SERVOPACK processes as VLIM = 7FFFFFFFh inter-
nally.
FFFFFFFFh
0h
Normal
No speed limit applies.
(The speed is clamped at the maximum output speed
and the alarm CMD_ALM does not occur.)
Continued on next page.