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60
System Parameters
Section 4-2
Motion Task Parameters
Note
Abbreviation in the No. column:
M = 1 to 8 (motion task number)
Abbreviation in the address column: M = 0 to 7 (motion task number
−
1)
P00004
5003h
Unit function select
• Specifies method of specifying the speed in helical cir-
cular interpolation under MOVEC command.
• Specifies center-positioning method for MOVEC com-
mand
• Specifies the speed command unit for SPEED com-
mand/feedback speed.
• Selects output method for positioning completed/posi-
tioning completed 2 signals.
• Specifies the method for changing the direction for JOG
operation.
• Specifies support for 3-ms communications cycle.
• Specifies the type of continuous operation for multi-turn
operation for an infinite axis
• Specifies behavior when an overtravel alarm occurs
• Specifies the number of parallel branches for each Unit
and each task.
• Specifies origin establishment and status hold for
present position preset.
• Specifies the operation (deceleration stop or servo OFF)
for deceleration stop signal inputs.
P00005
5004h
Reserved
P00006
5005h
General I/O Dis-
abled/Enabled
Specifies general I/O signals disable/enable for MC unit.
P00007
5006h
Input control 1 from
PLC
Specifies whether input signals from CPU to the Unit or
motion tasks are enabled or disabled.
P00008
5007h
Input control 2 from
PLC
Specifies whether input signals from CPU to axes are
enabled or disabled.
P00009
5008h
Setting for the No. of
MECHATROLINK-II
Retrial Nodes, With/
without C2 master
• No. of retrial nodes: Specifies the number of nodes to be
retried within MECHATROLINK-II communication cycle.
• With/without C2 master: Set this parameter when there
is a master unit other than MC unit. (reserved)
P00010
5009h
MECHATROLINK-II
Delay in Communi-
cation Start
Specifies the time to make the communication start
delayed in order to wait for slave startup.
P00011
500Ah
Number of zone bits
Specifies the number of zone bits to be used.
P00012
500Bh
Zone data leading
address
Specifies the leading address for the zone data (upper
and lower limits) used by the zone bits.
P00013
-
P00032
500Ch
-
501Fh
Reserved
---
Number
Address
Name
Function
Page
No.
M = 1-8
Address
M = 0-7
Name
Function
Page
P00M01
5020h +
(M * 20h)
Max. interpolation
feed rate
Sets the maximum feed rate (F command) in interpolation
operation
P00M02
5021h +
(M * 20h)
Interpolation feed
acceleration time
Sets the time required to accelerate from zero to max.
interpolation feed rate.
P00M03
5022h +
(M * 20h)
Interpolation feed
deceleration time
Sets the time required to decelerate from max. interpola-
tion feed rate to zero in interpolation.
P00M04
5023h +
(M * 20h)
Interpolation S-curve
filter enabled
Selects enable /disable of S-curve filter at the interpola-
tion feed rate.
P00M05
5024h +
(M * 20h)
Interpolation S-curve
time constant
Sets the S-curve filter time constant at the interpolation
feed rate.
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