2.5 Command Header Section
2.5.1 Servo Command Control (SVCMD_CTRL)
2-14
2.5
Command Header Section
For the details of the command header section (command code, watchdog data and command
control fields), refer to the following section.
2.2 Command Header Section of Main Command Area
2.5.1
Servo Command Control (SVCMD_CTRL)
Byte 4 to byte 7 of the command format are specified as the SVCMD_CTRL field.
The control bit specifies a motion command for a slave station.
The SVCMD_CTRL field contains auxiliary data for the specified command and the control bits
have no meaning with commands other than the command that specified the data.
Note that the designation in this field is valid even when a CMD_ALM has occurred.
The SVCMD_CTRL field is specified as shown below by the communication specification.
SVCMD_CTRL Field
Details of Control Bits
The following table shows the details of the control bits.
bit 7
bit 6
bit 5
bit 4
bit 3
bit 2
bit 1
bit 0
Reserved (0)
ACCFIL
STOP_MODE
CMD_
CANCEL
CMD_
PAUSE
bit 15
bit 14
bit 13
bit 12
bit 11
bit 10
bit 9
bit 8
Reserved (0)
LT_SEL2
LT_SEL1
LT_REQ2
LT_REQ1
bit 23
bit 22
bit 21
bit 20
bit 19
bit 18
bit 17
bit 16
SEL_MON2
SEL_MON1
bit 31
bit 30
bit 29
bit 28
bit 27
bit 26
bit 25
bit 24
Reserved (0)
SEL_MON3
Bit
Name
Description
Value
Setting
Enabled Timing
0
CMD_PAUSE
Pause of Move
Command
0
None
Level
1
Move command pause
command
Pauses execution of the POSING, FEED, EX_FEED, EX_POSING, ZRET and VELCTRL com-
mands according to STOP_MODE.
1
CMD_CANCEL
Cancellation of
Move Command
0
None
Level
1
Cancellation of move
command
Cancels execution of the POSING, FEED, EX_FEED, EX_POSING, ZRET and VELCTRL com-
mands according to STOP_MODE.
2, 3
STOP_MODE
Selection of Stop
Mode
0
Stop after deceleration
Level
1
Immediate stop
2
Reserved
3
Reserved
Selects the stop mode for CMD_PAUSE and CMD_CANCEL.
Continued on next page.
