11.3 Motion Commands
11-31
11
(b) Related Parameters
• Setting Parameters
• 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 (OW
08) to 8.
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 set 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
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
Sets 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.
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 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 deceleration to a stop has been completed as the result of set-
ting the Command Pause bit (OB
090).
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. OFF in all other cases.
IB
0C3 Position Proximity Turns ON when Distribution Completed (DEN) turns ON.
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