A-66
APPENDIX
A-5MECHATROLINK-II Communication Commands
- SV Series User’s Manual -
The target position and target speed can also be changed when the "POSING" command is used.
Whether the output of position command is finished or not can be confirmed by the DEN of STATUS.
If the following warning appears, command will be ignored.
• When the POSING command is received in servo OFF ("command alarm 1 (command condition
is not met)" (95A)).
• When the threshold is exceeded during the course from the target position (TPOS) to the current position
(IPOS) ("the data setting alarm 2 (beyond the range)" (94B)).
• When the motor operation parameters are written to the KV-ML/MC setting tool (KV MOTION+), SV
series setting software or visiting window ("data setting alarm 1 (beyond data range)" (95A)).
Upon receiving the POSING command, positioning can be performed as shown in the following figure.
■Relevant parameters
ML_07 to ML_12 and ML_25 to ML_30 cannot accelerate to TSPD when used according to default value.
Command speed
TSPD
1st acceleration
Time
1st deceleration
POSING command receive
Acceleration switch speed 1
Deceleration switch speed 1
2nd acceleration
2nd deceleration
Parameter
Category
Name Set value/setting unit Default
Enable
timing
TUN_34 Special *Torque feedforward
1: Disable
2: Enable
1
When power
is ON again
ML_69 Special
*Pos ctrl cmd
TFF/TLIM
0: Disable
1: Enable
1
ML_07 Special 1st acceleration rate 1 1 to 65535 (10000CMD_PLS/s
2
) 100
After changing
ML_08 Special 2nd acceleration rate 1 1 to 65535 (10000CMD_PLS/s
2
) 100
ML_09 Special
Acceleration rate change
speed 1
0 to 65535 (100CMD_PLS/s) 0
ML_10 Special 1st deceleration rate 1 1 to 65535 (10000CMD_PLS/s
2
) 100
ML_11 Special 2nd deceleration rate 1 1 to 65535 (10000CMD_PLS/s
2
) 100
ML_12 Special
Deceleration rate switch
speed 1
0 to 65535 (100CMD_PLS/s) 0
ML_24 Special *Accel/decel constant
0: 1 is valid
1: 2 is valid
0
When power
is ON again
ML_25 Special 1st acceleration rate 2 1 to 20971520 (10000CMD_PLS/s
2
) 100
After changing
ML_26 Special 2nd acceleration rate 2 1 to 20971520 (10000CMD_PLS/s
2
) 100
ML_27 Special
Acceleration rate change
speed 2
0 to 2097152000 (100CMD_PLS/s) 0
ML_28 Special 1st deceleration rate 2 1 to 20971520 (10000CMD_PLS/s
2
) 100
ML_29 Special 2nd deceleration rate 2 1 to 20971520 (10000CMD_PLS/s
2
) 100
ML_30 Special
Deceleration rate switch
speed 2
0 to 2097152000 (100CMD_PLS/s) 0
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