8 Motion Commands
8-30
(6) Related Parameters
(a) Setting Parameters
(b) Monitoring Parameters
Parameter Name Setting
OB
000 Servo ON Turn the power to the Servomotor ON and OFF.
1: Power ON to Servomotor, 0: Power OFF to Servomotor
Turn ON the power before setting the Motion Command Code (OW
08) to 3.
OB
013 Speed Loop
P/PI Switch
Switches the speed control loop between PI control and P control.
0: PI control, 1: P control
OW
03 Function 1 Set the speed unit, acceleration/deceleration unit, and filter type.
OW
08 Motion Command The zero point return operation starts when this parameter is set to 3. The operation
will be canceled if this parameter is set to 0 during ZRET command execution.
OB
091 Command Abort The axis will decelerate to a stop if this bit is set to 1 during zero point return
operation.
OB
095 Position Reference
Type
Switch the type of position reference.
0: Incremental addition mode, 1: Absolute mode
Set this parameter before setting the Motion Command Code (OW
08) to 3.
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 Accelera-
tion Time
Set the acceleration/deceleration filter time constant. Exponential acceleration/
deceleration or a moving average filter can be selected in OW
03.
Change the setting only after pulse distribution has been completed for the
command (IB
0C0 is ON).
OW
3D Home Window Set the width in which the Zero Point Position bit (IB
0C4) will turn ON.
Parameter Name Monitor Contents
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 will be 3 during ZRET command execution.
IB
090 Command Executing Turns ON during zero point return operation. Turns OFF when ZRET command
execution has been completed.
IB
091 Hold Completed Always OFF for ZRET command.
IB
093 Command Error End Turns ON if an error occurs during ZRET command execution. The axis will
decelerate to a stop if it is moving. Turns OFF when another command is executed.
IB
098 Command
Completed
Turns ON when ZRET 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
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).
OL
20
≠
0: Turns ON when
MPOS - APOS
< Position Proximity Setting
even if pulse distribution has not been completed.
OFF in all other cases.
IB
0C4 Zero Point Position Turns ON if the current position after the zero point return operation has been
completed is within the Zero Point Position Output Wide from the zero point
position. Turns OFF is the current position is not within this width.
IB
0C5 Zero Point Return
Completed
Turns ON when the zero point return has been completed.
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