Chapter 7 Motion Control Functions
7.10 Parameter Settings
1) Target speed: P5-60 ~ P5-75 (Moving Speed Setting of Position 0 ~ 15), total 16 groups
Bit 15 ~ 0
W0
TARGET_SPEED：0.1 ~ 6000.0(r/min)
2) Accel / Decel time: P5-20 ~ P5-35 (Accel / Decel Time 0 ~ 15), total 16 parameters
Bit 15 ~ 0
W0
T_ACC / T_DEC：1 ~ 65500(msec)
Note: The acceleration time is used for DO signals, STP/EMS/NL(CWL)/PL(CCWL) when users
want to stop the motor. The function of P5-07 will refer to this setting when perform stop
positioning as well.
3) Delay time: P5-40 ~ P5-55 (Delay Time 0 ~ 15), total 16 groups.
Bit 15 ~ 0
W0
IDLE：0 ~ 32767(msec)
4) PR parameters: P5-00 ~ P5-09, P6-00 ~ P6-01, total 12 DWORD.
32 BIT
P5-00 Reserved
P5-01 Reserved (for internal testing, do not use it)
P5-02 Reserved (for internal testing, do not use it)
P5-03 Deceleration Time of Protection Function
P5-04 Homing Mode
P5-05 1st Speed Setting of High Speed Homing
P5-06 2nd Speed Setting of Low Speed Homing
P5-07 Trigger Position Command (PR mode only)
P5-08 Forward Software Limit
P5-09 Reverse Software Limit
P6-00 Homing Definition
P6-01 Homing Definition Value (Z pulse position)
5) PR Definition: P6-02 ~ P7-27, (64 BIT), total 63 groups (2N)
Bit
31 ~ 28 27 ~ 24 23 ~ 20
19 ~ 16
15 ~ 12
11 ~ 8 7 ~ 4 3 ~ 0
DW0 … … … … … … … TYPE
DW1 DATA (32 bit)
Each PR occupies two parameters. TYPE determines the PR type or function. DATA indicates PR
data and the others are auxiliary information.
Revision January 2011 7-19
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