11.3 Motion Commands
11-21
11
(b) Related Parameters
• Setting Parameters
• Monitoring Parameters
Parameter
Name
Setting
OB
000
Servo ON
Turn the power to the Servomotor ON and OFF.
1: Power ON to Servomotor, 0: Power OFF to Servomotor
Turn ON the power before setting the Motion Command (OW
08) to 2.
OW
03
Function 1
Set the speed unit, acceleration/deceleration unit, and filter type.
OW
08
Motion Command
The positioning operation starts when this parameter is set to 2. The operation
will be canceled if this parameter is set to 0 during EX_POSING command
execution.
OB
090
Command Pause
The axis will decelerate to a stop if this bit is set to 1 during EX_POSING
command execution. The positioning will restart if this bit is set to 0 when a
command is being held.
OB
091
Command Abort
The axis will decelerate to a stop if this bit is set to 1 during EX_POSING
command execution.
OB
095
Position Reference
Type
Switch the type of position reference.
0: Incremental addition mode, 1: Absolute mode
Set this parameter before setting the Motion Command Code (OW
08) to
2.
OL
10
Speed Reference
Specify the speed for the positioning. This setting can be changed during
operation. The unit depends on the setting of OW
03.
OL
1C
Position Reference
Type
Set the target position for positioning. This setting can be changed during
operation. The meaning of the setting depends on the status of OB
095.
OL
36
Linear Acceleration
Time
Set the rate of acceleration or acceleration time constant for positioning.
OL
38
Linear Deceleration
Time
Set the rate of deceleration or deceleration time constant for positioning.
OW
3A
S-Curve Acceleration
Time
Set the acceleration/deceleration filter time constant. Exponential
acceleration/deceleration or a moving average filter can be selected in
OW
03.
Change the setting only after pulse distribution has been completed for the
command (IB
0C0 is ON).
Parameter
Name
Monitor Contents
IB
001
Servo ON
Indicates the Servo ON status.
ON: Power supplied to Servomotor, OFF: Power not supplied to Servomotor
IL
02
Warning
Stores the most current warning.
IL
04
Alarm
Stores the most current alarm.
IW
08
Servo Command Type
Response
Indicates the motion command that is being executed.
The response code is 2 during EX_POSING command execution.
IB
090
Command Executing
The Command Executing bit will turn ON during EX_POSING command
execution and then turn OFF when command execution has been completed.
IB
091
Command Hold
Completed
Turns ON when a deceleration to a stop has been completed as the result of
setting the Command Pause bit (OB
090) to 1 during EX_POSING
command execution.
IB
093
Command Error End
Turns ON if an error occurs during EX_POSING command execution. The
axis will decelerate to a stop if it is moving. Turns OFF when another
command is executed.
IB
098
Command Execution
Completed
Turns ON when EX_POSING command execution has been completed.
IB
0C0
Distribution Completed
Turns ON when pulse distribution has been completed for the move
command.
Turns OFF during execution of a move command.
IB
0C1
Positioning Completed
Turns ON when pulse distribution has been completed and the current position
is within the Positioning Completed Width. OFF in all other cases.
IB
0C3
Position Proximity
Turns ON when Distribution Completed (DEN) turns ON.
