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Chapter 5 Data Used for Positioning Control
Setting item Setting details
[Cd.136] PI-PID switching request
Set the PI-PID switching to servo amplifier.
Fetch cycle: Operation cycle
[Cd.138] Control mode switching
request
Request the control mode switching.
Set "1" after setting "[Cd.139] Control mode setting".
The Simple Motion module sets "0" at completion of control mode switching.
Fetch cycle: Operation cycle
[Cd.139] Control mode setting
Set the control mode to be changed in the speed-torque control.
Fetch cycle: At control mode switching
[Cd.140] Command speed at speed
control mode
Set the command speed at speed control mode.
The setting value range differs according to the "[Pr.1] Unit setting".
[Pr.1]
Unit
setting
mm
(
10
-2
mm/min)
inch
(
10
-3
inch/min)
degree
(
10
-3
degree/min)
PLS
(PLS/s)
Setting range
-2000000000 to
2000000000
-2000000000 to
2000000000
-2000000000 to
2000000000
-1000000000 to
1000000000
: When "[Pr.83] Speed control 10 x multiplier setting for degree axis" is valid,
this will be the setting range -2000000000 to 2000000000 (
10
-2
degree/min).
Fetch cycle: Operation cycle (At speed control mode)
[Cd.141] Acceleration time at speed
control mode
Set the acceleration time at speed control mode.
(Set the time for the speed to increase from "0" to "[Pr.8] Speed limit value".)
0 to 65535 (ms)
Fetch cycle: At control mode switching
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