8 Motion Commands
8-44
(4) Related Parameters
(a) Setting 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 (OW

08) to 8.
OB

013 Speed Loop P/PI
Switch
Switch 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 STEP operation starts when this parameter is set to 8. The operation will be
canceled if this parameter is set to 0 during STEP command execution.
OB

090 Command Pause The axis will decelerate to a stop if this bit is set to 1 during STEP operation. The
operation will restart if this bit is reset to 0 when a command is being held.
OB

091 Command Abort The axis will decelerate to a stop if this bit is set to 1 during a STEP operation.
Operation after stopping depends on the setting of the Position Reference Type
(OB

095).
OB

092 JOG/STEP Direction Set the moving amount for STEP operation.
0: Positive direction, 1: Negative direction
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 (OW

08) to 8.
OL

10 Speed Reference Specify the speed for the positioning. This setting can be changed during
operation. The unit depends on the setting of OW

03.
OL

18 Speed Override This parameter allows the travel speed to be changed without changing the Speed
Reference (OL

10). Set the value as a percentage of the Speed Reference. This
setting can be changed during operation.
Setting range: 0 to 32767 (0% to 327.67%)
　
Setting unit: 1 = 0.01%
Example: Setting for 50%: 5000
OL

1E Positioning
Completed Width
Set the width in which to turn ON the Positioning Completed bit (IB

0C1).
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 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).
OL

44 Step Distance Set the moving amount for STEP operation.
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