A-48
APPENDIX
A-5MECHATROLINK-II Communication Commands
- SV Series User’s Manual -
Option field functions can be added/changed through parameters. Signal names and functions which can be added/
changed are as follows.
■Other data fields
Signal name
Occupied
bit
Name Status
Parameters to
Set
ACCFIL 2 Acceleration/deceleration filter
0H: w/o acceleration/
deceleration filter
1H: Index function
acceleration/deceleration
2H: S-shape acceleration/
deceleration
ML_49
ML_50
G_SEL 2 Gain switch
0H: Gain 1
1H: Gain 2
ML_51
ML_52
V_PPI 1 Speed loop P/PI control
0: PI control
1: P control
ML_53
ML_54
P_PI_CLR 1 Position loop position integral clear
0: Not cleared
1: Cleared
ML_55
ML_56
P_CL 1 CCW torque limit
0: Torque control not
executed
1: Torque limit
ML_57
ML_58
N_CL 1 CW torque limit
0: Torque control not
executed
1: Torque limit
ML_59
ML_60
BANK_SEL1 4
Bank selector 1 (Acceleration /
deceleration system bank)
0H: Bank 0
1H: Bank 1
FH: Bank 15
ML_61
ML_62
LT_DISABLE 1 Latch signal input disable
0: Disable
1: Enable
ML_63
ML_64
OUT_SIGNAL 3
I/O signal
outputcommand
*1
*1 Cannot be used when function is assigned to OUT1 to OUT3.
bit0
0: SO1 output OFF
1: SO1 output ON
ML_65
ML_66
bit1
0: SO2 output OFF
1: SO2 output ON
bit2
0: SO3 output OFF
1: SO3 output ON
Data field
Data
length
Data Memo
ALARM
(alarm)
1-byte To save the first 8 bytes of alarm.
ALM_CLR_MOD
(alarm clear object)
1-byte -
ALM_DATA
(alarm data)
10Byte
7 0
ALARM
02H to 9DH
7
00
0
0000 0
ALM_CLR_MOD
0 : Clear occurring alarm/warning
1 : Clear alarm log
0
9
0-word 1-word 9-word
ALMRDMOD
DatastoredinALMDATA
10H To save the first 2 bits of alarm being occurred.
1H To save the last 10 alarms occurred.
2H
Read specifed alarm index (occurring sequence: 0 is the latest)
for 6th byte and alarm codes for 7th and 8th bytes.
3H
Read specifed alarm index (occurring sequence: 0 is the latest)
for 6th byte and alarm codes for 7th and 8th bytes.
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