This chapter describes the motion commands required to
write ladder programs and the motion language instruc-
tions required to write motion programs.
4.1
Commands . . . . . . . . . . . . . . . . . . . . . . . . . 4-3
4.1.1 Motion Commands . . . . . . . . . . . . . . . . . . . . . . . 4-3
4.1.2 Motion Subcommands . . . . . . . . . . . . . . . . . . . . 4-6
4.2
Motion Command Details . . . . . . . . . . . . . . 4-7
4.2.1 POSING (Positioning) . . . . . . . . . . . . . . . . . . . . . 4-7
4.2.2 EX_POSING (External Positioning) . . . . . . . . . . 4-13
4.2.3 ZRET (Zero Point Return) . . . . . . . . . . . . . . . . . 4-20
4.2.4 INTERPOLATE (Interpolation) . . . . . . . . . . . . . . 4-42
4.2.5 LATCH (Latch) . . . . . . . . . . . . . . . . . . . . . . . . . . 4-46
4.2.6 FEED (Jog) . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-50
4.2.7 STEP (STEP Operation) . . . . . . . . . . . . . . . . . . . 4-55
4.2.8 ZSET (Set Zero Point) . . . . . . . . . . . . . . . . . . . . 4-60
4.2.9 ACC (Change Acceleration Time) . . . . . . . . . . . 4-62
4.2.10 DCC (Change Deceleration Time) . . . . . . . . . . . 4-64
4.2.11 SCC (Change Filter Time Constant) . . . . . . . . . . 4-66
4.2.12 CHG_FILTER (Change Filter Type) . . . . . . . . . . . 4-68
4.2.13 KVS (Change Speed Loop Gain) . . . . . . . . . . . . 4-70
4.2.14 KPS (Change Position Loop Gain) . . . . . . . . . . . 4-72
4.2.15 KFS (Change Feedforward) . . . . . . . . . . . . . . . . 4-74
4.2.16 PRM_RD (Read SERVOPACK Parameter) . . . . . 4-76
4.2.16 PRM_RD (Read SERVOPACK Parameter) . . . . . 4-76
4.2.17 PRM_WR (Write SERVOPACK Parameter) . . . . . 4-78
4.2.18 ALM_MON (Monitor Alarms) . . . . . . . . . . . . . . . 4-80
4.2.19 ALM_HIST (Monitor Alarm History) . . . . . . . . . . 4-82
4.2.20 ALMHIST_CLR (Clear Alarm History) . . . . . . . . . 4-84
4.2.21 ABS_RST (Reset Absolute Encoder) . . . . . . . . . 4-86
4.2.22 VELO (Issue Speed Reference) . . . . . . . . . . . . . 4-89
4.2.23 TRQ (Issue Torque/Force Reference) . . . . . . . . . 4-94
4.2.24 PHASE (Issue Phase Reference) . . . . . . . . . . . . 4-99
Motion Control
Program Commands
and Instructions
4
To Next Page
Loading...
