7
Motion Commands
7.2.7
STEP Operation (STEP)
7-50
[ b ] Monitoring Parameters
OL
20
Positioning
Completed Width 2
Set the range in which the Position Proximity bit (IB
0C3) will turn ON.
The Position Proximity bit will turn ON when the absolute value of the
difference between the reference position and the feedback position is less than
the value set here.
−
OL
36
Linear Acceleration
Time
Set the rate of acceleration or acceleration time constant for positioning.
OL
38
Linear Deceleration
Time
Set the rate of deceleration or deceleration time constant for positioning.
OW
3A
S-Curve Acceleration
Time
Set the acceleration/deceleration filter time constant. Exponential acceleration/
deceleration or a moving average filter can be selected in the Function 1
(OW
03).
Change the setting only after pulse distribution has been completed for the
command (IB
0C0 is ON).
OL
44
Step Distance
Set the moving amount for STEP operation.
−
Parameter Name Monitor Contents SVR
IB
001
Servo ON
Indicates the Servo ON status.
ON: Power supplied to Servomotor, OFF: Power not supplied to Servomotor
IL
02
Warning
Stores the most current warning.
IL
04
Alarm
Stores the most current alarm.
IW
08
Servo Command
Type Response
Indicates the motion command that is being executed.
The response code is 8 during STEP command execution.
IB
090
Command
Executing
The Command Executing bit will turn ON during STEP command execution and
then turn OFF when STEP command execution has been completed.
IB
091
Command Hold
Completed
Turns ON when a deceleration to a stop has been completed as the result of setting
the Command Pause (OB
090) bit to 1 during STEP command execution
(IW
08 = 8).
IB
093
Command Error End
Turns ON if an error occurs during STEP command execution.
The axis will decelerate to a stop if it is moving. Turns OFF when another command
is executed.
IB
098
Command
Execution
Completed
Turns ON when STEP command execution has been completed.
IB
0C0
Distribution
Completed
Turns ON when pulse distribution has been completed for the move command.
Turns OFF during execution of a move command.
IB
0C1
Positioning
Completed
Turns ON when pulse distribution has been completed and the current position is
within the Positioning Completed Width. OFF in all other cases.
IB
0C3
Position Proximity
The operation depends on the setting of the Positioning Completed Width 2 (setting
parameter OL
20).
OL
20 = 0: Turns ON when pulse distribution has been completed (DEN =
ON). Otherwise, it turns OFF.
OL
20
≠
0: Turns ON when
the absolute value of the difference between
MPOS and APOS is less than the Position Proximity Setting even
if pulse distribution has not been completed.
OFF in all other cases.
R
R
R
R
R
R
R
R
R
R
R
R
R
R
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