D
Motion Parameter Lists
A-22
OW
08
Motion Command
0: NOP (No Command)
1: POSING (Position Mode) (Positioning)
2: EX_POSING (Latch Target Positioning) (External positioning)
3: ZRET (Zero Point Return)
4: INTERPOLATE (Interpolation)
5: ENDOF_INTERPOLATE (Last Interpolation Segment)
(Reserved for the system)
6: LATCH (Interpolation Mode with Latch Input)
7: FEED (Jog Mode)
8: STEP (Relative Position Mode) (Step mode)
9: ZSET (Set Zero Point)
10: ACC (Change Acceleration Time)
11: DCC (Change Deceleration Time)
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 User Constant)
(Read SERVOPACK parameter)
18: PRM_WR (Write User Constant
(Write SERVOPACK parameter)
19: ALM_MON (Alarm Monitor)
20: ALM_HIST (Alarm History Monitor)
21: ALMHIST_CLR (Clear Alarm History)
22: ABS_RST (Absolute Encoder Reset)
23: VELO (Speed Reference)
24: TRQ (Torque/Thrust Reference)
25: PHASE (Phase Reference)
26: KIS (Change Position Loop Integral Time Constant)
27: PPRM_WR (Stored Parameter Write)
Yes Yes
OW
09
Motion Command
Control Flag
Bit 0: Holds a Command (0: OFF/1: ON)
Yes Yes
Bit 1: Interrupt a Command (0: OFF/1: ON)
Yes Yes
Bit 2: Moving Direction (JOG/STEP) (0: Forward rotation/1:
Reverse rotation)
Yes Yes
Bit 3: Zero point Direction Selection (0: Reverse rotation/1: Forward
rotation)
Yes
Bit 4: Latch Zone Effective Selection (0: Disabled/1: Enabled)
Yes
Bit 5: Position Reference Type
(0: Incremental Addition Mode/1: Absolute Mode)
Yes Yes
Bit 6: Phase Compensation Type
(0: Incremental Addition Mode/1: Absolute Mode)
Yes
Bits 7 to F: Reserved for system use.
OW
0A
Motion Subcommand
0: NOP (No command)
Yes Yes
1: PRM_RD (Read User Constant) (Read SERVOPACK
parameter)
2: PRM_WR (User Constant) (Write SERVOPACK parameter)
3: Reserved
4: SMON (Status monitor)
Yes
5: FIXPRM_RD (Read Fixed Parameters)
Yes Yes
OW
0B
−
Reserved for system use.
OL
0C
Torque/Thrust
Reference Setting
Unit is according to OW
03, bits 12 to 15 (Torque Unit
Setting).
Yes Yes
OW
0E
Speed Limit Setting at
the Torque/Thrust
Reference
1 = 0.01% (percentage of rated speed)
Yes
OW
0F
−
Reserved for system use.
OL
10
Speed Reference
Setting
Unit is according to OW
03, bits 0 to 3 (Speed Unit
Selection).
Yes Yes
(cont’d)
Register No. Name Contents SVB SVR
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