8-1
8
8
Motion Commands
This chapter describes motion commands.
8.1 Command Table - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-2
8.1.1 Motion Commands - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-2
8.1.2
Motion Subcommands
- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-3
8.1.3 Motion Command Support by SERVOPACK Model - - - - - - - - - - - - - - 8-4
8.2 Positioning (POSING) - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-5
8.3 External Positioning (EX_POSING) - - - - - - - - - - - - - - - - - - 8-10
8.4 Zero Point Return (ZRET) - - - - - - - - - - - - - - - - - - - - - - - - 8-15
8.5 Interpolation (INTERPOLATE) - - - - - - - - - - - - - - - - - - - - - 8-33
8.6 Latch (LATCH) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-36
8.7 JOG Operation (FEED) - - - - - - - - - - - - - - - - - - - - - - - - - - 8-39
8.8 STEP Operation (STEP) - - - - - - - - - - - - - - - - - - - - - - - - - 8-43
8.9 Zero Point Setting (ZSET) - - - - - - - - - - - - - - - - - - - - - - - - 8-47
8.10 Change Linear Acceleration Time Constant (ACC) - - - - - - 8-49
8.11 Change Linear Deceleration Time Constant (DCC) - - - - - - 8-51
8.12 Change Filter Time Constant (SCC) - - - - - - - - - - - - - - - - 8-53
8.13 Change Filter Type (CHG_FILTER) - - - - - - - - - - - - - - - - - 8-55
8.14 Change Speed Loop Gain (KVS) - - - - - - - - - - - - - - - - - - 8-57
8.15 Change Position Loop Gain (KPS) - - - - - - - - - - - - - - - - - 8-59
8.16 Change Feed Forward (KFS) - - - - - - - - - - - - - - - - - - - - - 8-61
8.17 Read SERVOPACK Parameter (PRM_RD) - - - - - - - - - - - 8-63
8.18 Write SERVOPACK Parameter (PRM_WR) - - - - - - - - - - - 8-65
8.19 Monitor SERVOPACK Alarms (ALM_MON) - - - - - - - - - - - 8-67
8.20 Monitor SERVOPACK Alarm History (ALM_HIST) - - - - - - 8-69
8.21 Clear SERVOPACK Alarm History (ALMHIST_CLR) - - - - - 8-71
8.22 Reset Absolute Encoder (ABS_RST) - - - - - - - - - - - - - - - 8-73
8.23 Speed Reference (VELO) - - - - - - - - - - - - - - - - - - - - - - - - 8-76
8.24 Torque Reference (TRQ) - - - - - - - - - - - - - - - - - - - - - - - - 8-80
8.25 Phase References (PHASE) - - - - - - - - - - - - - - - - - - - - - - 8-83
8.26 Change Position Loop Integration Time Constant (KIS) - - - 8-85
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