4.2 Motion Command Details
4.2.7 STEP (STEP Operation)
4
Motion Contr
ol Pr
ogram Command
s
and In
s
truction
s
4-57
Monitor Parameters
OW
02
Bit 8 to F
Stop Mode Selection
Select the stop method to use when a command is canceled.
0: Stop according to the Linear Deceleration Rate/Deceleration
Time Constant parameter
1: Stop immediately
OW
03
Function Settings 1
Select the speed unit, acceleration/deceleration unit, and filter type.
OW
08
Motion Commands
The STEP operation is started when this parameter is set to 8
(STEP).
Set this parameter to 0 (NOP) during a STEP operation to cancel the
STEP operation.
OW
09
Bit 0
Hold Command
When this bit is set to 1 (ON) during a STEP operation, the axis will
decelerate to a stop.
The STEP operation is resumed if this bit is set to 0 (OFF) when the
axis is being held.
OW
09
Bit 1
Cancel Command
If this bit is set to 1 (ON) during positioning, the axis will decelerate to
a stop.
If this bit is set to 0 (OFF) after decelerating to a stop, the operation
will depend on the setting of bit 5 in OW
09.
OW
09
Bit 2
Travel Direction for
JOG/STEP
Set the travel direction for the STEP operation.
0: Forward, 1: Reverse
OL
10
Speed Reference Set-
ting
Specify the positioning speed. This parameter can be changed
during operation.
The unit depends on the set value of bits 0 to 3 in OW
03.
OW
12
Speed Limit
Set the upper speed limit as a percentage of the rated speed. This
value is an absolute value. It is used in both the forward and reverse
directions.
OL
14
Torque/Force Limit
Set the torque limit for interpolation positioning.
OW
18
Override
This parameter allows the positioning speed to be changed without
changing the value of OL
10.
Set the value as a percentage of the Speed Reference Setting. This
parameter can be changed during operation.
Setting range: 0 to 32,767 (0% to 327.67%)
Setting unit: 1 = 0.01%
Example: Setting for 50% = 5,000
OL
1E
Positioning Completion
Width
Set this parameter to the value for which bit 1 in IW
0C will
change to 1 (Within positioning completed range).
OL
20
NEAR Signal Output
Width
Set this parameter to the value for which bit 3 in IW
0C will
change to 1 (Within near position range). Bit 3 changes to 1 when
the absolute value of the difference between the reference position
and the feedback position is within the range that is specified here.
OL
36
Linear Acceleration
Rate/Acceleration Time
Constant
Set the positioning acceleration rate with the acceleration rate or the
acceleration time.
OL
38
Linear Deceleration
Rate/Deceleration Time
Constant
Set the positioning deceleration rate with the deceleration rate or the
deceleration time.
OW
3A
Filter Time Constant
Set the acceleration/deceleration filter time constant. Exponential
acceleration/deceleration or a moving average filter can be selected
in bits 8 to B in OW
03.
This setting can be changed only when distribution has been com-
pleted (i.e., when bit 0 in IW
0C is 1).
OL
44
STEP Travel Distance
Set the travel distance for the STEP operation.
Register
Address
Name
Monitored Contents
IW
00
Bit 1
Running with Servo
ON
This bit shows the Servo status for the axis.
0: Stopped, 1: Running with Servo ON
IL
02
Warnings
This parameter reports the current warning status.
Continued on next page.
Continued from previous page.
Register
Address
Name
Setting Details
Summary of Contents for SVC
Page 34: ...2 6 4 Reference Output Timing 2 20 2 6 5 Precautions When Combining with Other Modules 2 21...
Page 383: ...5 2 Absolute Encoders 5 2 6 Position Management Method for Each Machine Operation Type 5 42...
Page 387: ...5 2 Absolute Encoders 5 2 6 Position Management Method for Each Machine Operation Type 5 46...