4.1 Commands
4.1.1 Motion Commands
4-4
12 SCC
Change Filter
Time Constant
Changes the acceleration/
deceleration filter time con-
stant.
page
4-66
13 CHG_FILTER
Change Filter
Type
Changes the acceleration/
deceleration filter type.
page
4-68
14 KVS
Change Speed
Loop Gain
Changes the speed loop gain. –
page
4-70
15 KPS
Change Posi-
tion Loop Gain
Changes the position loop
gain.
–
page
4-72
16 KFS
Change Feed-
forward
Changes the feedforward con-
trol gain.
–
page
4-74
17 PRM_RD
Read SERVO-
PACK Parameter
(Read user con-
stant)
Reads a SERVOPACK param-
eter.
–
page
4-76
18 PRM_WR
Write SERVO-
PACK Parameter
(Write user con-
stant)
Writes a SERVOPACK parame-
ter.
–
page
4-78
19 ALM_MON
Motion Alarms
(Alarm monitor)
Monitors SERVOPACK alarms. –
page
4-80
20 ALM_HIST
Monitor Alarm
History (Alarm
history monitor)
Monitors the SERVOPACK
alarm history.
–
page
4-82
21
ALMHIST_-
CLR
Clear Alarm His-
tory
Clears the SERVOPACK alarm
history data.
–
page
4-84
22 ABS_RST
Reset Absolute
Encoder
Resets the absolute encoder. –
page
4-86
23 VELO
Issue Speed
Reference
(Speed r
efer-
ence)
Performs operation
in Speed
Control Mode.
page
4-89
24 TRQ
Issue Torque/
Force Refer-
ence (Torque/
Thrust reference)
Performs operation in Torque
Control Mode.
page
4-94
25 PHASE
Issue Phase Ref-
erence (Phase
reference)
Performs operation in Phase
Control Mode.
page
4-99
26 KIS
Change Posi-
tion Loop Inte-
gral Time
Constant
Changes the position loop
integral time constant.
–
page
4-103
27 PPRM_WR
Write Non-vola-
tile Parameter
(Stored parame-
ter write)
Changes a SERVOPACK
parameter in non-volatile
memory.
–
page
4-105
28 to 33 − Reserved. −−−−
34 EX_FEED
Jog with Exter-
nal Positioning
(Jog mode with
external posi-
tioning)
Moves the axis by the external
positioning travel distance from
the current position when an
external positioning signal is
input during jogging.
–
page
4-107
35 MEM_RD Read Memory
Reads data from the SERVO-
PACK memory.
–
page
4-113
36 MEM_WR Write Memory
Writes data to the SERVO-
PACK memory.
–
page
4-115
Continued on next page.
Continued from previous page.
Com-
mand
Code
Command Name Introduction
SVC
Function
Modules
SVR
Function
Modules
Refer-
ence
Page
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