4
Motion Parameters
4.3.2
Motion Setting Parameter Details
4-28
( 7 ) Motion Command
OW
08
Motion Command
Setting Range Setting Unit Default Value
0 to 26 − 0
Set motion commands.
0: NOP No command
1: POSING Positioning
2: EX_POSING External Positioning
3: ZRET Zero Point Return
4: INTERPOLATE Interpolation
5: ENDOF_
INTERPOLATE
Reserved
6: LATCH Latch
7
:
FEED
JOG Operation
8: STEP STEP Operation
9: ZSET Zero Point Setting
10: ACC Change Linear Acceleration Time Constant
11
:
DCC
Change Linear Deceleration Time Constant
12
:
SCC
Change Filter Time Constant
13: CHG_FILTER Change Filter Type
14: KVS Change Speed Loop Gain
15: KPS Change Position Loop Gain
16: KFS Change Feed Forward
17
:
PRM_RD
Read SERVOPACK Parameter
18
:
PRM_WR
Write SERVOPACK Parameter
19
:
ALM_MON
Monitor SERVOPACK Alarms
20: ALM_HIST Monitor SERVOPACK Alarm History
21
:
ALMHIST_CLR
Clear SERVOPACK Alarm History
22: ABS_RST Reset Absolute Encoder
23: VELO Speed Reference
24
:
TRQ
Torque Reference
25
:
PHASE
Phase Reference
26: KIS Change Position Loop Integration Time Constant
Refer to Chapter 5 Motion Commands for details.
Position
Phase
Speed
Torque
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