6.4
MP2300 Parameter Details
6-31
( 9 ) Motion Subcommands
Description
Bit 6
Phase Compensation Type with an Electronic Cam
Select a setting method for Phase Compensation (OL
28).
0: Incremental addition mode (Default)
1: Absolute mode
This bit is valid when the electronic cam function is enabled (setting: OW
05, bit 1 = 1).
If using an electronic shaft (OW
05, bit 1 = 0), the incremental value of Phase Compensation (OL
28),
which is the difference between the values from the previous H scan and the current H scan, is added to the tar-
get position regardless of the setting of this bit.
■
Precautions if using as an electronic cam (OW05, bit 1 = 1)
if Absolute value 1 is selected for the Phase Compensation Type when using an electronic
cam, always take measures to prevent a sudden and extreme change in the target position
before executing the move command. For example, set the Phase Compensation (OL
28)
to the same value as 32-bit Coordination System Position (DPOS) (IL
14). If preventive
measures are not taken, the axis may abruptly move, resulting in a serious situation.
If using the electronic cam function, do not change the setting of this bit while the move com-
mand is being executed. Although the setting of this bit can be changed at any time, chang-
ing the setting while the move command is being executed may move the axis abruptly,
resulting in serious situation.
■
Precautions if using as an electronic shaft (OW
05, bit 1 = 0)
The setting method of Phase Compensation (OL
28) for the SVA-01 Module and that for
the SVB/SVB-01 Modules are different. For the SVA-01 Module, the set value of Phase Com-
pensation (OL
28) is simply added to the target position.
OW
0A
Motion Subcommands
Setting Range Setting Unit Default Value
0 to 5
－
0
Description
Set the motion subcommands that can be used with the motion command.
0: NOP
1: PRM_RD
2: PRM_WR
3: Reserved
4: SMON
5: FIXPRM_RD
No command
Read SERVOPACK Parameter
Write SERVOPACK Parameter
Reserved
Monitor Status
Read Fixed Parameters
These commands can be used only with MECHATROLINK-II in 32-byte mode, except for Read Fixed
Parameters. For details, refer to 7.3 Motion Subcommands on page 7-95 and 7.4 Motion Subcom-
mand Details on page 7-96.
OW
09
Motion Command Options
Setting Range Setting Unit Default Value
－－
0000H
Position
Phase
Speed
Torque
Position
Phase
Speed
Torque
R
R
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