Chapter 6 Command
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6.3.25 Basic Parameter Teaching (Command : TBP)
(1) Program
(2) Description
Device Description
M00021 Axis X basic parameter setting input
D00000.0 Axis X in operation
D00000.1 Axis X error state
D03000 Parameter value
D03012 Parameter items
Command TBP Basic parameter Teaching
OP1 Slot Constant WORD
Slot No. installed with positioning
module
OP2 Axis PMLK,constant,D,Z,R,ZR WORD Command axis (0: axis X, 1: axis Y)
OP3 Parameter value PMLK,constant,D,Z,R,ZR DWORD Parameter value to change
Operand
OP4 Parameter item PMLK,constant,D,Z,R,ZR WORD Parameter item to change (1~19, hFF)
※
PMLK means P, M, L and K areas.
(a) This is the command that changes the value of the item (OP4) which already set among basic parameter items to setting
value (OP3). At this time, teaching data is saved in RAM and for permanent presser. For permanent preservation, write to
flash memory using WRT command.
(b) Basic parameter setting command is unavailable to be executed when the axis is operating.
(c) Basic parameter items
Setting
Value
Items Setting Range
1 Speed limit value
1 ~ 2,000,000[pulse/S]
2 Bias speed
1 ~ 2,000,000[pulse/S]
3 Acc. Time 1
4 Acc. Time 2
5 Acc. Time 3
6 Acc. Time 4
7 Dec. Time 1
8 Dec. Time 2
9 Dec. Time 3
10 Dec. Time 4
0 ~ 65,535 [ms]
11
SW upper limit -2,147,483,648 ∼ 2,147,483,647 [pulse]
12
SW lower limit -2,147,483,648 ∼ 2,147,483,647 [pulse]
13
Backlash compensation 0 ~ 65,535 [pulse]
14
Detect upper/lower imit
during constant speed
operation
0: Not detect, 1: detect
15
Positioning complete
condition
0:Dwell time, 1:Inposition,
2:Dwell time AND Inposition, 3:dwell time or inposition
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