7-1
7
Motion Commands
This chapter explains each motion command's operation, related parameters, and
timing charts.
7.1
Motion Commands
.................................................................. 7-3
7.1.1
Motion Command Table
......................................................................... 7-3
7.1.2
Motion Commands Supported by SERVOPACK Models
...................... 7-4
7.2
Motion Command Details
........................................................ 7-5
7.2.1
Positioning (POSING)
............................................................................ 7-5
7.2.2 External Positioning (EX_POSING) ..................................................... 7-11
7.2.3
Zero Point Return (ZRET)
.................................................................... 7-16
7.2.4
Interpolation (INTERPOLATE)
............................................................. 7-36
7.2.5
Latch (LATCH)
..................................................................................... 7-40
7.2.6
JOG Operation (FEED)
....................................................................... 7-44
7.2.7
STEP Operation (STEP)
...................................................................... 7-48
7.2.8
Zero Point Setting (ZSET)
................................................................... 7-52
7.2.9
Change Linear Acceleration Time Constant (ACC)
............................. 7-54
7.2.10
Change Linear Deceleration Time Constant (DCC)
........................... 7-56
7.2.11
Change Filter Time Constant (SCC)
.................................................. 7-58
7.2.12
Change Filter Type (CHG_FILTER)
................................................... 7-60
7.2.13
Change Speed Loop Gain (KVS)
....................................................... 7-62
7.2.14
Change Position Loop Gain (KPS)
.................................................... 7-64
7.2.15
Change Feed Forward (KFS)
............................................................ 7-66
7.2.16
Read SERVOPACK Parameter (PRM_RD)
....................................... 7-68
7.2.17
Write SERVOPACK Parameter (PRM_WR)
...................................... 7-70
7.2.18
Monitor SERVOPACK Alarms (ALM_MON)
...................................... 7-72
7.2.19
Monitor SERVOPACK Alarm History (ALM_HIST)
............................ 7-73
7.2.20
Clear SERVOPACK Alarm History (ALMHIST_CLR)
........................ 7-75
7.2.21
Reset Absolute Encoder (ABS_RST)
................................................ 7-77
7.2.22
Speed Reference (VELO)
.................................................................. 7-80
7.2.23
Torque Reference (TRQ)
................................................................... 7-84
7.2.24
Phase References (PHASE)
............................................................. 7-89
7.2.25
Change Position Loop Integration Time Constant (KIS)
.................... 7-93
7.3
Motion Subcommands
........................................................... 7-95
7.3.1
Motion Sub-command Table
................................................................ 7-95
7.3.2
Motion Subcommand Settings
............................................................. 7-95
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