A-67
A-5MECHATROLINK-II Communication Commands
APPENDIX
- SV Series User’s Manual -
Transfer with a fixed speed (36H)[FEED]
The transfer with a fixed speed shall be carried out as per target coordinate (TSPD).
Available phase : Phase 2 and Phase 3
Type of command : non-sync type
Reading cycle : < Communication period
Sub command : Available
The target speed can also be changed when the FEED 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)).
• ("data setting alarm 2 (beyond the range)" (94B))when the target speed exceeds the threshold.
• 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 FEED command, positioning can be performed as shown in the following figure.
■Relevant parameters
Byte 0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16
Command 03H 36H -
OPTION
- TSPD
SEL_MON1/2
TLIM WDT
Response 01H 36H
ALARM STATUS
MONITOR1 MONITOR2
SEL_MON1/2 IO_MON
RWDT
Byte 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31
Command Sub command field Can't use
Response Sub command field Can't use
Command speed
Rated speed send stops when
HOLD command receiving.
TSPD
1st acceleration
Time
1st deceleration
FEED command receive
- - - - - - - - - - - -
- - - - - - - - - - -
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 changingML_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_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 changingML_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
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