556
7
7 Motion Control
S and T: Auxiliary parameter number
X-axis Y-axis Z-axis Attribute
SD45 SD145 SD245 Electronic gear ratio denominator
SD46 and SD47 SD146 and SD147 SD246 and SD247 Current input frequency
SD48 and SD49 SD148 and SD149 SD248 and SD249 Cumulative number of pulses input by hand gear
SD50 and SD51 SD150 and SD151 SD250 and SD251
Axis offset compensation value (DRV, LIN, and
INTR)
SD52 and SD53 SD152 and SD153 SD252 and SD253
Axis center coordinate offset compensation value
(CW and CCW)
SD54 and SD55
SD154 and SD155
(reserved)
SD254 and SD255
(reserved)
Axis arc radius offset compensation value (CW and
CCW)
SD56 to 59 SD156 to 159 SD256 to 259 Reserved
SD60 SD160 SD260 Setting of high-speed pulse input and count
SD61 SD161 SD261 High-speed pulse output setting
SD62 SD162 SD262 Display of the status of special PM input point
SD63 SD163 SD263 Display of the status of special PM output point
SD64 to 69 SD164 to 169 SD264 to 269 Reserved
SD70 SD170 SD270
Electronic cam axis selection table: 0: Cam and
hand gear disabled by default; 10: Hand gear; 11:
Cam 1; 12: Cam 2; 13: Cam 3
SD71 SD171 SD271 Setting of electronic cam input axis numbers
SD72 SD172 SD272 Times of non-cyclic cam execution
SD73 SD173 SD273 Reserved
SD74 and SD75 SD174 and SD175 SD274 and SD275 Lower limit of cam synchronization position
SD76 and SD77 SD176 and SD177 SD276 and SD277 Upper limit of cam synchronization position
SD78 and SD79 SD178 and SD179 SD278 and SD279 Number of pulses (startup delay)
SD80 SD180 SD280 Selection of the input pole
SD81 and SD82 SD181 and SD182 SD281 and SD282 Number of nished cam cycles
SD83 to SD89 SD183 to SD189 SD283 to SD289 Reserved
SD90 SD190 (reserved) SD290 (reserved)
Motion control subprogram MCX marker setting
register
SD91 to SD99 SD191 to SD199 SD291 to SD299 Reserved
●
(SD6, SD7), (SD106, SD107), and (SD206, SD207): Number of pulses required when the motor
rotates a circle (A)
If A is the number of pulses needed for the motor to rotate one circle and F is the electronic gear ratio inside
the servo, then A x F = the number of pulses generated when the encoder rotates one circle.
●
(SD8, SD9), (SD108, SD109), and (SD208, SD209): Movement distance when the motor rotates a
circle (B)
It indicates the movement distance when the motor rotates a circle, in the unit of um or 0.001°
(
mechanical
unit).
●
(SD10, SD11), (SD110, SD111), and (SD210, SD211): Maximum speed (Vmax)
1. It is the upper limit of the speeds in different operation modes, ranging from 0 to 2,147,483,647.
2. The maximum speed is 500 kHz. If the set value is larger than 500 kHz, 500 kHz is used by default.
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