Machine Controller MP3000 Series

Motion Control
USER’S MANUAL
SVC/SVR, SVC32/SVR32

Overview of the Motion

Control Function Modules 1
Motion Control 2
Definitions 3
Motion Parameters 4
Example Parameter
Settings 5
Motion Commands 6
Switching Commands 7
Position Management
with an Absolute Encoder 8
Stepping Motor
Operation
9
Inverter Operation 10
Utility Functions 11
Appendices 12

MANUAL NO. SIEP C880725 11D

Copyright © 2011 YASKAWA ELECTRIC CORPORATION
All rights reserved. No part of this publication may be reproduced, stored in a retrieval sys-
tem, or transmitted, in any form, or by any means, mechanical, electronic, photocopying,
recording, or otherwise, without the prior written permission of Yaskawa. No patent liabil-
ity is assumed with respect to the use of the information contained herein. Moreover,
because Yaskawa is constantly striving to improve its high-quality products, the informa-
tion contained in this manual is subject to change without notice. Every precaution has been
taken in the preparation of this manual. Nevertheless, Yaskawa assumes no responsibility
for errors or omissions. Neither is any liability assumed for damages resulting from the use
of the information contained in this publication.
 About this Manual
This manual describes the specifications, system configurations, and operating methods for the SVC, SVR,
SVC32, and SVR32 Function Modules that are used in an MP3000-series Machine Controller for motion con-
trol.
Read this manual carefully to ensure the correct usage of the Machine Controller and apply the Machine Con-
troller to control your manufacturing system.
Keep this manual in a safe place so that it can be referred to whenever necessary.

Using this Manual

 Basic Terms
Unless otherwise specified, the following definitions are used:
• Machine Controller: MP3000-series Machine Controller
• MPE720: The Engineering Tool or a personal computer running the Engineering Tool
• M-III: MECHATROLINK-III communications
• Fixed parameters: The fixed parameters in the motion parameters.
• Setting parameters: The setting parameters in the motion parameters.
• Monitor parameters: The monitor parameters in the motion parameters.
• PLC: A Programmable Logic Controller
• MP3200: A generic name for the Power Supply Unit, CPU Unit, Base Unit, and Rack Expansion Interface
Unit.
• MP3300: A generic name for the CPU Module and Base Unit.

 Manual Configuration
This manual consists of the chapters listed in the following table. Read the chapters of this manual as required
for your application.

Purpose Panel Maintenance

System Performing
Installation and
Design a Test Run
Chapter Title and Wiring Inspection

Chapter 1 Overview of the Motion Control Function Modules √ √

Chapter 2 Motion Control √ √
Chapter 3 Definitions √ √
Chapter 4 Motion Parameters √ √
Chapter 5 Example Parameter Settings √ √
Chapter 6 Motion Commands √ √
Chapter 7 Switching Commands √ √
Chapter 8 Absolute Position Detection √ √
Chapter 9 Utility Functions √ √ √
Chapter 10 Appendices √ √ √

iii
  MPE720 Engineering Tool Version Number
In this manual, the operation of MPE720 is described using screen captures of MPE720 version 7.

 Indication of Reverse Signals

In this manual, the names of reverse signals (ones that are valid when low) are written with a forward slash (/)
before the signal name, as shown in the following example:
Notation Examples
• S-ON = /S-ON
• P-CON = /P-CON

 Terms Used to Describe “Torque”

Although the term “torque” is commonly used when describing rotary Servomotors and “force” is used when
describing linear Servomotors, this manual uses “torque” when describing either one (excluding parameter
names).

 Copyrights
• MECHATROLINK is a trademark of the MECHATROLINK Members Association.
• DeviceNet is a registered trademark of the ODVA (Open DeviceNet Vendor Association, Inc.).
• PROFIBUS is a trademark of the PROFIBUS User Organization.
• Ethernet is a registered trademark of the Xerox Corporation.
• Other product names and company names are the trademarks or registered trademarks of the respective com-
pany. “TM” and the ® mark do not appear with product or company names in this manual.

 Visual Aids
The following aids are used to indicate certain types of information for easier reference.

Indicates precautions or restrictions that must be observed.

Important
Indicates alarm displays and other precautions that will not result in machine damage.

Indicates items for which caution is required or precautions to prevent operating mistakes.
Note

Example Indicates operating or setting examples.

Information Indicates supplemental information to deepen understanding or useful information.

Indicates definitions of difficult terms or terms that have not been previously explained in this
manual.
Terms

iv
 Related Manuals

 MP2000/MP3000 Series Related Manuals

The following table lists the manuals that are related to the MP2000/MP3000-series Machine Controllers.
Refer to these manuals as required.
Category Manual Name Manual Number Contents
Describes the functions of the MP2000/
MP3000-series Machine Controllers and
Machine Controller MP2000/MP3000
the procedures that are required to use the
Series Machine Controller System SIEP C880725 00
Machine Controller, from installation and
Setup Manual
connections to settings, programming,
trial operation, and debugging.
Machine Controller MP3000 Series
Describes troubleshooting an MP3000-
MP3200/MP3300 SIEP C880725 01
Basic func- series Machine Controller.
Troubleshooting Manual
tionality
Describes the specifications and system
Machine Controller MP3000 Series configuration of the Basic Units in an
SIEP C880725 10
MP3200 User’s Manual MP3000-series Machine Controller and
the functions of the CPU Unit.
Describes the specifications and system
Machine Controller MP3000 Series configuration of an MP3000-series
SIEP C880725 21
MP3300 Product Manual MP3300 Machine Controller and the
functions of the CPU Module.
Describes the specifications, system con-
Communica- figuration, and communications connec-
Machine Controller MP3000 Series
tions func- SIEP C880725 12 tion methods for the Ethernet
Communications User’s Manual
tionality communications that are used with an
MP3000-series Machine Controller.
Describes the functions, specifications,
Machine Controller MP2000 Series
SIEP C880700 32 and operating methods of the MP2000-
SVA-01 Motion Module User’s Manual
series SVA-01 Motion Module.
Describes the functions, specifications,
Machine Controller MP2000 Series
and operating methods of the MP2000-
Built-in SVB/SVB-01 Motion Module SIEP C880700 33
Motion con- series Motion Module (built-in Function
User’s Manual
trol function- Modules: SVB, SVB-01, and SVR).
ality Describes the functions, specifications,
Machine Controller MP2000 Series
SIEP C880700 41 and operating methods of the MP2000-
SVC-01 Motion Module User’s Manual
series SVC-01 Motion Module.
Machine Controller MP2000 Series Describes the functions, specifications,
Pulse Output Motion Module PO-01 SIEP C880700 28 and operating methods of the MP2000-
User’s Manual series PO-01 Motion Module.
Describes the ladder programming speci-
Machine Controller MP3000 Series
SIEP C880725 13 fications and instructions of MP3000-
Ladder Programming Manual
series Machine Controller.
Describes the motion programming and
Machine Controller MP3000 Series sequence programming specifications
SIEP C880725 14
Program- Motion Programming Manual and instructions of MP3000-series
ming Machine Controller.
Machine Controller MP900/MP2000
Describes the instructions used in
Series User’s Manual, Ladder Program- SIEZ-C887-1.2
MP2000 ladder programming.
ming
Machine Controller MP2000 Series User’s Describes the instructions used in
SIEP C880700 38
Manual for Motion Programming MP2000 motion programming.
Continued on next page.

v
 Continued from previous page.
Category Manual Name Manual Number Contents
Describes the functions, specifications,
operating methods, and MECHA-
MECHATROLINK-III Compatible I/O
SIEP C880781 04 TROLINK-III communications for the
Module User’s Manual
MECHA- Remote I/O Modules for MP2000/
TROLINK MP3000-series Machine Controllers.
I/O Machine Controller MP900/MP2000
Describes MECHATROLINK distributed
Series Distributed I/O Module
SIE-C887-5.1 I/O for MP900/MP2000-series Machine
User’s Manual, MECHATROLINK Sys-
Controllers.
tem
Machine Controller MP2000/MP3000
Engineering Series Describes how to operate MPE720 ver-
SIEP C880761 03
Tool Engineering Tool MPE720 Version 7 sion 7.
User’s Manual

 Σ-V Series Related Manuals

The following table lists the manuals that are related to Σ-V-series MECHATROLINK-III communications. Refer
to these manuals as required.
Manual Name Manual Number Contents
AC Servo Drives Σ-V Series User’s Manual This manual describes how to use a Σ-V-series
Design and Maintenance, Rotational Motor/ Servo Drive with MECHATROLINK- III
SIEP S800000 64
MECHATROLINK-III Communications communications references for a rotational
Reference motor.
AC Servo Drives Σ-V Series User’s Manual
This manual describes how to use a Σ-V-series
Design and Maintenance, Linear Motor/
SIEP S800000 65 Servo Drive with MECHATROLINK-III com-
MECHATROLINK-III Communications
munications references for a linear motor.
Reference
This manual provides information on the
AC Servo Drive Σ-V Series User’s Manual
MECHATROLINK-III standard Servo profile
MECHATROLINK-III Standard Servo Profile SIEP S800000 63
commands that are used with Σ-V-series Servo
Commands
Drives.
AC Servo Drives Σ-V Series User’s Manual This manual describes the operating methods
SIEP S800000 55
Operation of Digital Operator of the JUSP-OP05A-1-E Digital Operator.

vi
 Safety Precautions
The following signal words and marks are used to indicate safety precautions in this manual.
Information marked as shown below is important for safety. Always read this information and heed the pre-
cautions that are provided.

Indicates precautions that, if not heeded, could possibly result in loss of life or
WARNING serious injury.

Indicates precautions that, if not heeded, could result in relatively serious or

CAUTION minor injury, or property damage.
If not heeded, even precautions classified as cautions ( CAUTION ) can lead to
serious results depending on circumstances.

Indicates prohibited actions. For example, indicates prohibition of open

PROHIBITED flame.

Indicates mandatory actions. For example, indicates that grounding is

MANDATORY required.

The following precautions are for storage, transportation, installation, wiring, operation, maintenance, inspec-
tion, and disposal. These precautions are important and must be observed.

 General Precautions

WARNING
• The installation must be suitable and it must be performed only by an experienced technician.
There is a risk of electrical shock or injury.
• Before connecting the machine and starting operation, make sure that an emergency stop pro-
cedure has been provided and is working correctly.
There is a risk of injury.
• Do not approach the machine after a momentary interruption to the power supply. When power
is restored, the Machine Controller and the device connected to it may start operation suddenly.
Provide safety measures in advance to ensure human safety when operation restarts.
There is a risk of injury.
• Do not touch anything inside the Machine Controller.
There is a risk of electrical shock.
• Do not remove the front cover, cables, connector, or options while power is being supplied.
There is a risk of electrical shock, malfunction, or damage.
• Do not damage, pull on, apply excessive force to, place heavy objects on, or pinch the cables.
There is a risk of electrical shock, operational failure of the product, or burning.
• Do not attempt to modify the Machine Controller in any way.
There is a risk of injury or device damage.

vii
  Storage and Transportation

CAUTION
• Do not store the Machine Controller in any of the following locations.
• Locations that are subject to direct sunlight
• Locations that are subject to ambient temperatures that exceed the storage conditions
• Locations that are subject to ambient humidity that exceeds the storage conditions
• Locations that are subject to rapid temperature changes and condensation
• Locations that are subject to corrosive or inflammable gas
• Locations that are subject to excessive dust, dirt, salt, or metallic powder
• Locations that are subject to water, oil, or chemicals
• Locations that are subject to vibration or shock
There is a risk of fire, electrical shock, or device damage.
• Hold onto the main body of the Machine Controller when transporting it.
Holding the cables or connectors may damage them or result in injury.
• Do not overload the Machine Controller during transportation. (Follow all instructions.)
There is a risk of injury or an accident.
• Never subject the Machine Controller to an atmosphere containing halogen (fluorine, chlorine,
bromine, or iodine) during transportation.
There is a risk of malfunction or damage.
• If disinfectants or insecticides must be used to treat packing materials such as wooden frames,
pallets, or plywood, the packing materials must be treated before the product is packaged, and
methods other than fumigation must be used.
Example: Heat treatment, where materials are kiln-dried to a core temperature of 56°C for 30 minutes or
more.
If the electronic products, which include stand-alone products and products installed in machines, are
packed with fumigated wooden materials, the electrical components may be greatly damaged by the
gases or fumes resulting from the fumigation process. In particular, disinfectants containing halogen,
which includes chlorine, fluorine, bromine, or iodine can contribute to the erosion of the capacitors.

viii
 Installation

CAUTION
• Do not install the Machine Controller in any of the following locations.
• Locations that are subject to direct sunlight
• Locations that are subject to ambient temperatures that exceed the operating conditions
• Locations that are subject to ambient humidity that exceeds the operating conditions
• Locations that are subject to rapid temperature changes and condensation
• Locations that are subject to corrosive or inflammable gas
• Locations that are subject to excessive dust, dirt, salt, or metallic powder
• Locations that are subject to water, oil, or chemicals
• Locations that are subject to vibration or shock
There is a risk of fire, electrical shock, or device damage.
• Never install the Machine Controller in an atmosphere containing halogen (fluorine, chlorine,
bromine, or iodine).
There is a risk of malfunction or damage.
• Do not step on the Machine Controller or place heavy objects on the Machine Controller.
There is a risk of injury or an accident.
• Do not block the air exhaust ports on the Machine Controller. Do not allow foreign objects to
enter the Machine Controller.
There is a risk of internal element deterioration, malfunction, or fire.
• Always mount the Machine Controller in the specified orientation.
There is a risk of malfunction.
• Leave the specified amount of space between the Machine Controller, and the interior surface
of the control panel and other devices.
There is a risk of fire or malfunction.
• Do not subject the Machine Controller to strong shock.
There is a risk of malfunction.
• Suitable battery installation must be performed and it must be performed only by an experi-
enced technician.
There is a risk of electrical shock, injury, or device damage.
• Do not touch the electrodes when installing the Battery.
Static electricity may damage the electrodes.

ix
  Wiring

CAUTION
• Check the wiring to be sure it has been performed correctly.
There is a risk of motor run-away, injury, or accidents.
• Always use a power supply of the specified voltage.
There is a risk of fire or accident.
• In places with poor power supply conditions, ensure that the input power is supplied within the
specified voltage range.
There is a risk of device damage.
• Install breakers and other safety measures to provide protection against shorts in external wir-
ing.
There is a risk of fire.
• Provide sufficient shielding when using the Machine Controller in the following locations.
• Locations that are subject to noise, such as from static electricity
• Locations that are subject to strong electromagnetic or magnetic fields
• Locations that are subject to radiation
• Locations that are near power lines
There is a risk of device damage.
• Configure the circuits to turn ON the power supply to the CPU Unit/CPU Module before the 24-
V I/O power supply. Refer to the following manuals for details on circuits.
MP3000 Series CPU Unit Instructions (Manual No.: TOMP C880725 16)
MP3000 Series MP3300 CPU Module Instructions (Manual No.: TOMP C880725 23)
If the power supply to the CPU Unit/CPU Module is turned ON after the external power supply, e.g., the
24-V I/O power supply, the outputs from the CPU Unit/CPU Module may momentarily turn ON when
the power supply to the CPU Unit/CPU Module turns ON. This can result in unexpected operation that
may cause injury or device damage.
• Provide emergency stop circuits, interlock circuits, limit circuits, and any other required safety
measures in control circuits outside of the Machine Controller.
There is a risk of injury or device damage.
• If you use MECHATROLINK I/O Modules, use the establishment of MECHATROLINK commu-
nications as an interlock output condition.
There is a risk of device damage.
• Connect the Battery with the correct polarity.
There is a risk of battery damage or explosion.
• Select the I/O signal wires for external wiring to connect the Machine Controller to external
devices based on the following criteria:
• Mechanical strength
• Noise interference
• Wiring distance
• Signal voltage
• Separate the I/O signal cables for control circuits from the power cables both inside and outside
the control panel to reduce the influence of noise from the power cables.
If the I/O signal lines and power lines are not separated properly, malfunction may occur.
Example of Separated Cables

Steel separator

I/O signal
Power cable cables in
control circuits

x
 Operation

CAUTION
• Follow the procedures and instructions in the user’s manuals for the relevant products to per-
form normal operation and trial operation.
Operating mistakes while the Servomotor and machine are connected may damage the machine or even
cause accidents resulting in injury or death.
• Implement interlock signals and other safety circuits external to the Machine Controller to
ensure safety in the overall system even if the following conditions occur.
• Machine Controller failure or errors caused by external factors
• Shutdown of operation due to Machine Controller detection of an error in self-diagnosis and the subse-
quent turning OFF or holding of output signals
• Holding of the ON or OFF status of outputs from the Machine Controller due to fusing or burning of out-
put relays or damage to output transistors
• Voltage drops from overloads or short-circuits in the 24-V output from the Machine Controller and the
subsequent inability to output signals
• Unexpected outputs due to errors in the power supply, I/O, or memory that cannot be detected by the
Machine Controller through self-diagnosis.
There is a risk of injury, device damage, or burning.
• Observe the setting methods that are given in the manual for the following parameters.
• Parameters for absolute position detection when the axis type is set to a finite-length axis
8.4 Position Management Method for Each Machine Operation Type − Finite-length Operation (page 8-7)
• Parameters for simple absolute infinite-length position control when the axis type is set to an infinite-
length axis
8.4 Position Management Method for Each Machine Operation Type − Infinite-length Operation (page 8-13)
If any other methods are used, offset in the current position when the power supply is turned OFF and ON
again may result in device damage.
• OL48 (Zero Point Position Offset in Machine Coordinate System) is always valid when
the axis type is set to a finite-length axis. Do not change the setting of OL48 while the
Machine Controller is operating.
There is a risk of machine damage or an accident.

xi
  Maintenance and Inspection

CAUTION
• Do not attempt to disassemble or repair the Machine Controller.
There is a risk of electrical shock, injury, or device damage.
• Do not change any wiring while power is being supplied.
There is a risk of electrical shock, injury, or device damage.
• Suitable battery replacement must be performed and it must be performed only by an experi-
enced technician.
There is a risk of electrical shock, injury, or device damage.
• Replace the Battery only while power is supplied to the Machine Controller.
Replacing the Battery while the power supply to the Machine Controller is turned OFF may result in loss
of the data stored in memory in the Machine Controller.
• Do not touch the electrodes when replacing the Battery.
Static electricity may damage the electrodes.
• Do not forget to perform the following tasks when you replace the CPU Unit/CPU Module:
• Back up all programs and parameters from the CPU Unit/CPU Module that is being replaced.
• Transfer all saved programs and parameters to the new CPU Unit/CPU Module.
If you operate the CPU Unit/CPU Module without transferring this data, unexpected operation may
occur. There is a risk of injury or device damage.

 Disposal

CAUTION
• Dispose of the Machine Controller as general industrial waste.
• Observe all local laws and ordinances when you dispose of used Batteries.

 Other General Precautions

Observe the following general precautions to ensure safe application.
• The products shown in the illustrations in this manual are sometimes shown without covers or
protective guards. Always replace the cover or protective guard as specified first, and then
operate the products in accordance with the manual.
• The illustrations that are presented in this manual are typical examples and may not match the
product you received.
• If the manual must be ordered due to loss or damage, inform your nearest Yaskawa representa-
tive or one of the offices listed on the back of this manual.

xii
 Warranty

 Details of Warranty

 Warranty Period
The warranty period for a product that was purchased (hereinafter called “delivered product”) is one year from
the time of delivery to the location specified by the customer or 18 months from the time of shipment from the
Yaskawa factory, whichever is sooner.

 Warranty Scope
Yaskawa shall replace or repair a defective product free of charge if a defect attributable to Yaskawa occurs
during the warranty period above. This warranty does not cover defects caused by the delivered product reach-
ing the end of its service life and replacement of parts that require replacement or that have a limited service
life.
This warranty does not cover failures that result from any of the following causes.
• Improper handling, abuse, or use in unsuitable conditions or in environments not described in product cata-
logs or manuals, or in any separately agreed-upon specifications
• Causes not attributable to the delivered product itself
• Modifications or repairs not performed by Yaskawa
• Abuse of the delivered product in a manner in which it was not originally intended
• Causes that were not foreseeable with the scientific and technological understanding at the time of shipment
from Yaskawa
• Events for which Yaskawa is not responsible, such as natural or human-made disasters

 Limitations of Liability
• Yaskawa shall in no event be responsible for any damage or loss of opportunity to the customer that arises
due to failure of the delivered product.
• Yaskawa shall not be responsible for any programs (including parameter settings) or the results of program
execution of the programs provided by the user or by a third party for use with programmable Yaskawa
products.
• The information described in product catalogs or manuals is provided for the purpose of the customer pur-
chasing the appropriate product for the intended application. The use thereof does not guarantee that there
are no infringements of intellectual property rights or other proprietary rights of Yaskawa or third parties,
nor does it construe a license.
• Yaskawa shall not be responsible for any damage arising from infringements of intellectual property rights
or other proprietary rights of third parties as a result of using the information described in catalogs or manu-
als.

xiii
  Suitability for Use
• It is the customer’s responsibility to confirm conformity with any standards, codes, or regulations that apply
if the Yaskawa product is used in combination with any other products.
• The customer must confirm that the Yaskawa product is suitable for the systems, machines, and equipment
used by the customer.
• Consult with Yaskawa to determine whether use in the following applications is acceptable. If use in the
application is acceptable, use the product with extra allowance in ratings and specifications, and provide
safety measures to minimize hazards in the event of failure.
• Outdoor use, use involving potential chemical contamination or electrical interference, or use in conditions or
environments not described in product catalogs or manuals
• Nuclear energy control systems, combustion systems, railroad systems, aviation systems, vehicle systems, medi-
cal equipment, amusement machines, and installations subject to separate industry or government regulations
• Systems, machines, and equipment that may present a risk to life or property
• Systems that require a high degree of reliability, such as systems that supply gas, water, or electricity, or systems
that operate continuously 24 hours a day
• Other systems that require a similar high degree of safety
• Never use the product for an application involving serious risk to life or property without first ensuring that
the system is designed to secure the required level of safety with risk warnings and redundancy, and that the
Yaskawa product is properly rated and installed.
• The circuit examples and other application examples described in product catalogs and manuals are for ref-
erence. Check the functionality and safety of the actual devices and equipment to be used before using the
product.
• Read and understand all use prohibitions and precautions, and operate the Yaskawa product correctly to pre-
vent accidental harm to third parties.

 Specifications Change
The names, specifications, appearance, and accessories of products in product catalogs and manuals may be
changed at any time based on improvements and other reasons. The next editions of the revised catalogs or
manuals will be published with updated code numbers. Consult with your Yaskawa representative to confirm
the actual specifications before purchasing a product.

xiv
 Contents
About this Manual. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . iii
Using this Manual. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . iii
Related Manuals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . v
Safety Precautions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . vii
Warranty . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . xiii

Overview of the Motion Control Function Modules

1
1.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-2
SVC and SVC32 Function Modules . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-3
SVR and SVR32 Function Modules . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-9

1.2 Synchronization between Modules . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-11

Communications Cycle and the Number of Slave Stations . . . . . . . . . . . . . . . . . . . . . . .1-11
Timing at Which Modules Are Synchronized . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-12
Changing Synchronization Cycles . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-13
Reference Distribution Timing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-13
Precautions When Combining with Other Modules . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-14

1.3 External Appearance and Indicators. . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-15

External Appearance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-15
Indicators . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-15

Motion Control
2
2.1 Position Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-2
Motion Parameters for Position Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-2
Control Block Diagram for Position Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-8

2.2 Phase Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-10

Motion Parameters for Phase Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-10
Control Block Diagram for Phase Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-16

2.3 Torque Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-18

Motion Parameters for Torque Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-18
Control Block Diagram for Torque Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-24

2.4 Speed Control. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-26

Motion Parameters for Speed Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-26
Control Block Diagram for Speed Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-32

xv
 Definitions
3
3.1 Module Configuration Definition . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3-2
Displaying the Module Configuration Definition Tab Page . . . . . . . . . . . . . . . . . . . . . . . . . 3-2
Module Configuration Definition Tab Page Details. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-3

3.2 MECHATROLINK Communications Definition . . . . . . . . . . . . . . . . . . . . .3-7

Displaying the MECHATROLINK Communications Definition Dialog Box . . . . . . . . . . . . . 3-7
MECHATROLINK Communications Definition Dialog Box Details. . . . . . . . . . . . . . . . . . . 3-8
Environment for Using Σ-7-series SERVOPACKs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-17
Detailed Information When the SVC or SVC32 Is Set as a Slave . . . . . . . . . . . . . . . . . . 3-19

3.3 SVC Definition. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3-22

Displaying the SVC Definition Tab Page and Changing Settings . . . . . . . . . . . . . . . . . . 3-22
Parameters Written during Self-configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-26

3.4 Current Values and Set Values in SERVOPACK Parameters. . . . . . . . .3-27

Startup . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-27
Normal Operation. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-28
When the SERVOPACK Tab Page Is Opened. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-28
When SERVOPACK Parameters Are Saved . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-29
Saving Data to Flash Memory . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-29

Motion Parameters
4
4.1 Motion Parameter Register Addresses . . . . . . . . . . . . . . . . . . . . . . . . . . .4-2

4.2 Motion Parameter Tab Pages . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .4-6

4.3 Motion Parameter Tables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .4-8

Fixed Parameter Table. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-8
Setting Parameter Table . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-11
Monitor Parameter Table . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-21

4.4 Motion Parameter Details . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .4-30

Fixed Parameter Details . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-30
Setting Parameter Details . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-42
Monitor Parameter Details . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-79

Example Parameter Settings

5
5.1 Examples of Machine-specific Motion Parameter Settings. . . . . . . . . . . .5-2
Reference Unit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-2
Electronic Gear . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-3
Axis Selection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-5
Position Reference. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5-6
Speed Reference . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-9
Acceleration/Deceleration Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-12
Acceleration/Deceleration Filter Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-15
Linear Scale Pitch and Rated Speed . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-16

xvi
 Motion Commands
6
6.1 Motion Commands . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-3

6.2 Motion Command Details . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-6

POSING (Positioning) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-6
EX_POSING (External Positioning) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-13
ZRET (Zero Point Return) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-21
INTERPOLATE (Interpolation) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-43
LATCH (Latch) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-47
FEED (Jog). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-51
STEP (STEP Operation) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-56
ZSET (Set Zero Point) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-62
ACC (Change Acceleration Time) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-64
DCC (Change Deceleration Time) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-66
SCC (Change Filter Time Constant). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-68
CHG_FILTER (Change Filter Type) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-70
KVS (Change Speed Loop Gain) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-72
KPS (Change Position Loop Gain). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-74
KFS (Change Feedforward) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-76
PRM_RD (Read SERVOPACK Parameter) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-78
PRM_WR (Write SERVOPACK Parameter). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-80
ALM_MON (Monitor Alarms) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-82
ALM_HIST (Monitor Alarm History) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-84
ALMHIST_CLR (Clear Alarm History) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-86
ABS_RST (Reset Absolute Encoder). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-88
VELO (Issue Speed Reference) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-89
TRQ (Issue Torque/Force Reference) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-95
PHASE (Issue Phase Reference) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-100
KIS (Change Position Loop Integral Time Constant) . . . . . . . . . . . . . . . . . . . . . . . . . . 6-104
PPRM_WR (Write Non-volatile Parameter) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-106
EX_FEED (Jog with External Positioning) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-109
MEM_RD (Read Memory) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .6-115
MEM_WR (Write Memory) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .6-117
PMEM_RD (Read Non-volatile Memory) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .6-119
PMEM_WR (Write Non-volatile Memory) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-121

6.3 Motion Subcommands . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-123

6.4 Motion Subcommand Details . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-124

NOP (No Command) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-124
PRM_RD (Read SERVOPACK Parameter) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-125
PRM_WR (Write SERVOPACK Parameter). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-128
INF_RD (Read Device Information) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-130
SMON (Monitor Status) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-132
FIXPRM_RD (Read Fixed Parameter) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-134
FIXPRM_CHG (Change Fixed Parameter) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-136

xvii
 Switching Commands
7
7.1 Motion Command and Subcommand Execution Judgment Table . . . . . .7-2
SVC and SVC32 Motion Command Execution Judgment Table . . . . . . . . . . . . . . . . . . . . 7-2
SVC and SVC32 Motion Subcommand Execution Judgment Table . . . . . . . . . . . . . . . . . 7-4
SVR and SVR32 Motion Command Execution Judgment Table . . . . . . . . . . . . . . . . . . . . 7-5

7.2 Switching Motion Commands . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .7-6

Switching from the POSING Motion Command . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-7
Switching from the EX_POSING Motion Command . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-11
Switching from the ZRET Motion Command . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-15
Switching from the INTERPOLATE Motion Command . . . . . . . . . . . . . . . . . . . . . . . . . . 7-19
Switching from the ENDOF_INTERPOLATE or LATCH Motion Command . . . . . . . . . . . 7-23
Switching from the FEED Motion Command . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-24
Switching from the STEP Motion Command . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-29
Switching from the ZSET Motion Command . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-33
Switching from the VELO Motion Command . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-34
Switching from the TRQ Motion Command . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-39
Switching from the PHASE Motion Command. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-44
Switching from the EX_FEED Motion Command. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-48

Position Management with an Absolute Encoder

8
8.1 Absolute Position Detection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .8-2

8.2 Absolute Encoder System Startup . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .8-3

Setting Up the Absolute Encoder (Initialization). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-4
Setting the Zero Point of the Machine Coordinate System . . . . . . . . . . . . . . . . . . . . . . . . 8-4
Current Value in the Machine Coordinate System . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-5

8.3 Reading Position Data When the Power Supply Is Turned ON . . . . . . . .8-6

8.4 Position Management Method for Each Machine Operation Type . . . . . .8-7
Finite-length Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-7
Infinite-length Operation. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-13
Infinite-length Operation with Simple Absolute Infinite Axis Position Management . . . . . 8-15
Infinite-length Operation with Non-simple Absolute Infinite Axis Position
Management . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-19

8.5 Multiturn Limit Setting Disagreement Detection . . . . . . . . . . . . . . . . . . .8-31

Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-31
Applicable Versions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-31
Related Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-32
Multiturn Limit Setting Disagreement Detection Timing . . . . . . . . . . . . . . . . . . . . . . . . . . 8-32
Checking for a Multiturn Limit Setting Disagreement. . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-32
Clearing the Warning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-33

xviii
 Stepping Motor Operation
9
9.1 Overview. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-2

9.2 Stepping Motor Drive Connection Specifications . . . . . . . . . . . . . . . . . . . 9-3

9.3 Parameter Support Table . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-4

Fixed Parameter Table . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-4
Setting Parameter Table. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-7
Monitor Parameter Table . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-17

9.4 Link Assignments . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-26

9.5 Common Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-27

Inverter Operation
10
10.1 Specifications for Communications with Connected Inverters . . . . . . . . 10-2

10.2 Setup Procedure. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10-3

Check Items before Setup . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10-3
Inverter Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10-4
I/O Options . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10-12

10.3 Precautions for Inverter Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10-14

10.4 Main Commands and Subcommands. . . . . . . . . . . . . . . . . . . . . . . . . . 10-19

List of Main Commands and Subcommands . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10-19
Applicable Combinations of Main Commands and Subcommands . . . . . . . . . . . . . . . 10-20
Main Command Details . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10-21
Subcommand Details . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10-30

10.5 Motion Parameter Details . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10-37

Fixed Parameter List . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10-37
Setting Parameter List . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10-38
Monitoring Parameter List . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10-51
Inverter Output Data Details . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10-64
Inverter Input Data Details . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10-64

10.6 Inverter Alarm and Warning Codes . . . . . . . . . . . . . . . . . . . . . . . . . . . 10-68

A1000 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10-68
V1000 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10-74

Utility Functions
11
11.1 Controlling Vertical Axes. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-3
SERVOPACK Holding Brake . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .11-3
Connecting to a Σ-V Servo Drive . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .11-4

xix
 11.2 Overtravel . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-6
Overtravel Input Signal Connections . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-6
Parameter Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-7

11.3 Software Limits . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-9

Software Limit Parameter Selection. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-9
Related Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-10
Comparison with the MP2000-series SVC-01 Module. . . . . . . . . . . . . . . . . . . . . . . . . . 11-11
The Effects of Software Limits . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-11
Processing after an Alarm Occurs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-12

11.4 Modal Latching . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-13

11.5 Waiting for Slave Detection. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-15

Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-15
Applicable Versions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-15
Operating Procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-16
Timing to Complete Slave Detection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-18
Indicators When the Power Is Turned ON . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-18
Precautions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-19

11.6 Slave CPU Synchronization . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-20

Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-20
Applicable Versions and Execution Conditions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-21
Setting Procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-22
I/O Registers . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-26
Execution Flow for Slave CPU Synchronization . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-27
Procedure to Turn ON Power . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-28
Confirmation That the Slave CPU Is Synchronized . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-28
Handling Input Errors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-29
Effect on Application Program . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-30
Operation of the Slave Machine Controller . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-31
Precautions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-32

11.7 Automatically Updated Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-33

Automatically Updated Parameters When a MECHATROLINK Connection Is
Established . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-33
Automatically Updated Parameters When a Setting Parameter Is Changed. . . . . . . . . 11-35
Automatically Updated Parameters When a Motion Command Is Executed. . . . . . . . . 11-36
Parameters Automatically Updated during Self Configuration. . . . . . . . . . . . . . . . . . . . 11-38

11.8 Precautions When Using Σ-7-series SERVOPACKs . . . . . . . . . . . . . . 11-39

Machine Controllers That Support the Σ-7-series SERVOPACKs . . . . . . . . . . . . . . . . . 11-39
Σ-7-series SERVOPACK Electronic Gear Ratio and Machine Controller Settings . . . . 11-40
Link Assignments. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-41
Number of Pulses Per Motor Rotation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-41
Self Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-41
Operating Specifications When Using a Machine Controller That Supports
the Σ-7-series SERVOPACKs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-42
Operating Specifications When Using a Machine Controller That Does Not Support
the Σ-7-series SERVOPACK . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-44

xx
 Appendices
12
12.1 Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12-3
SVC and SVC32 Function Modules . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12-3
SVR and SVR32 Function Modules . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12-5
Applicable Versions for Additional Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12-6

12.2 Sample Programs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12-7

Performing Positioning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12-7
Performing Positioning with an External Signal . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12-9
Performing a Zero Point Returns . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12-12

12.3 System Registers . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12-15

System Service Registers . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12-15
Scan Execution Status and Calendar. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12-17
System Program Software Numbers and Remaining Program Memory Capacity . . . . 12-17

12.4 MECHATROLINK-III I/O Module Settings . . . . . . . . . . . . . . . . . . . . . . 12-18

Link Assignment Tab Page Settings. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12-18
I/O Register Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12-19
I/O Commands . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12-20
I/O Command Details . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12-21
Command Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12-38
Master Status . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12-38
Command Status . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12-39
CPU STOP Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12-42

12.5 Resetting the Absolute Encoder . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12-43

Using the Machine Controller to Reset the Absolute Encoder . . . . . . . . . . . . . . . . . . . 12-43
Using the SERVOPACK to Reset the Absolute Encoder . . . . . . . . . . . . . . . . . . . . . . . 12-47

12.6 Multiturn Limit Setting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12-48

Using the Machine Controller to Set the Multiturn Limit . . . . . . . . . . . . . . . . . . . . . . . . 12-48
Using the SERVOPACK to Set the Multiturn Limit . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12-52

12.7 Setting Fixed Parameters According to Encoder Type and Axis Type . . 12-53

12.8 Common Parameters and SERVOPACK Parameters . . . . . . . . . . . . . 12-55

12.9 Terminology . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12-57

Index

Revision History

xxi
 Overview of
the Motion Control
Function Modules
1
This chapter introduces the SVC, SVC32, SVR, and SVR32
Motion Control Function Modules in the MP3000-series Control-
ler and describes their features.

1.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-2

SVC and SVC32 Function Modules . . . . . . . . . . . . . . . . . . . . 1-3
SVR and SVR32 Function Modules . . . . . . . . . . . . . . . . . . . . 1-9

1.2 Synchronization between Modules . . . . . . . . . . 1-11

Communications Cycle and the Number of
Slave Stations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-11
Timing at Which Modules Are Synchronized . . . . . . . . . . . . 1-12
Changing Synchronization Cycles . . . . . . . . . . . . . . . . . . . . 1-13
Reference Distribution Timing . . . . . . . . . . . . . . . . . . . . . . . 1-13
Precautions When Combining with Other Modules . . . . . . . 1-14

1.3 External Appearance and Indicators . . . . . . . . . 1-15

External Appearance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-15
Indicators . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-15
 1.1 Introduction

1.1 Introduction
The Motion Control Function Modules that are built into an MP3000-series Machine Controller are called
the SVC, SVC32, SVR, and SVR32. A conceptual diagram is given below.

Machine Controller
SVR or
CPU SVR32
Virtual
Motion motion
Ladder parameters control
programs

SVC or
SVC32
Position control
Standard
Motion Motion Phase control SERVOPACKs
servo profile MECHATROLINK-III
programs parameters Torque control commands Servomotors
Speed control

Standard I/O
I/O I/O control profile I/O devices
MECHATROLINK-III
registers commands

The SVC, SVC32, SVR, and SVR32 Function Modules are capable of the following types of motion con-
trol.
• Position control
• Phase control
• Torque control*
• Speed control*
* The SVR and SVR32 contain some parameters that cannot be set and some monitor parameters that cannot be updated.
Refer to the following chapter for details on the different types of motion control.
Chapter 2 Motion Control

Unless otherwise specified, the SVC32 and SVR32 are used in the descriptions in this manual. The
SVC, SVC32, SVR, and SVR32 differ only in the number of Servo Drive axes that they can control.
Important Functionality is the same.

1-2
 1.1 Introduction
SVC and SVC32 Function Modules

SVC and SVC32 Function Modules

This section describes the features of the SVC and SVC32 Function Modules, the system configuration,
and the network topologies.

Features
The SVC and SVC32 can control MECHATROLINK-III-compatible interface devices, such as Servo
Drives or Distributed I/O Modules.
The differences in specifications between the MP2000 Series and the MP3000 Series are outlined in the
following table.
MP3000-series
Item MP2000-series SVC-01 Module
SVC SVC32

Overview of the Motion Control Function Modules

21 (Servo Drives 42 (Servo Drives
Maximum Number of 21 (Servo Drives can be connected for up
can be connected can be connected
Connectable Stations to 16 axes)
for up to 16 axes) for up to 32 axes)
You can assign reg- You can assign reg-
Register Range isters for one cir- isters for one*1 or The registers for one circuit are assigned.
cuit. two circuits.
125 μs, 250 μs, 500
125 μs, 250 μs, 500
Communications Cycle μs, 1 ms, 1.5 ms, 125 μs, 250 μs, 500 μs, 1ms
μs, 1 ms
2 ms, 3 ms
Slave CPU Synchroniza-
tion Supported.*2 Not supported.

Simulation is achieved by distributing vir-

Simulation is achieved through echoed
Simulation Mode tual travel distance data every cycle
references.
within the SVC Function Module.
Software Limit Parame-
ter Selection (Bit C of Supported. Not supported.
fixed parameter No. 1)
*1. If only one circuit is assigned, you can use a maximum of only 16 axes. 1
Note: Refer to the following section for other specifications.
12.1 Specifications (page 12-3)
*2. Refer to the following section for details.
11.6 Slave CPU Synchronization (page 11-20)

1-3
 1.1 Introduction
SVC and SVC32 Function Modules

System Configuration Example

 Configuration with the MP3200
The following figure shows a system configuration example that uses the SVC32.
*
MPE720 Integrated
Engineering Tool Version 7

Host PLC PC

Ethernet Ethernet

MP3200

EXIOIF

24-VDC power supply,

AC power supply, or
status monitoring device

24-VDC power supply

or AC power supply MECHATROLINK-III

SERVOPACK with
MECHATROLINK-III Communications I/O Module with
MP2200 MBU-02
POWER EXIOIF
References MECHATROLINK-III
Communications

DC

24-VDC power supply I/O

or AC power supply
MP2200 MBU-02
POWER EXIOIF

Servomotor Servomotor Servomotor

Up to 42 stations, including I/O (Up to 32 stations can be Servos.)

DC

24-VDC power supply

or AC power supply

24-VDC power supply

or AC power supply

* This manual primarily describes this area.

Note: 1. Refer to the following manual for information on cables, connectors, and applicable SERVOPACKs.
MP3000 Series MP3200 User’s Manual (Manual No.: SIEP C880725 10)
2. When you connect a SERVOPACK through MECHATROLINK communications, connect the wiring for input
signals, such as overtravel, the zero point return deceleration limit switch, and external latches, to the SERVO-
PACK. Refer to the relevant SERVOPACK manual for details on the connections.

Turn ON the power supply to the MECHATROLINK-III slave devices before or at the same time as
the power supply to the Machine Controller. If you must turn ON the power supply to the Machine
Controller first, reset the network after you turn ON the power supply to the MECHATROLINK-III
Important
slave devices. Otherwise, MECHATROLINK communications may not be performed correctly.

1-4
 1.1 Introduction
SVC and SVC32 Function Modules

 Using the MP3300

The following figure shows a system configuration example that uses the SVC.
*
MPE720 Integrated
Engineering
Tool Version 7

Host PLC PC

HUB
Ethernet communications cable

MP3300
RLYOUT
connector cable

Overview of the Motion Control Function Modules

24-VDC power supply,
AC power supply, or
status monitoring device Battery

Power cable

Front cover for

24-VDC power supply unused slot
or AC power supply

MECHATROLINK-III Cable
MECHATROLINK-III

SERVOPACK with MECHATROLINK-III

Communications References I/O Module with
MECHATROLINK-III
Communications

I/O

Servomotor Servomotor Servomotor

Up to 21 stations, including I/O (Up to 16 stations can be Servos.)

* This manual primarily describes this area.

Note: 1. Refer to the following manual for information on cables, connectors, and applicable SERVOPACKs.
MP3000 Series MP3300 Product Manual (Manual No.: SIEP C880725 21)
2. When you connect a SERVOPACK through MECHATROLINK communications, connect the wiring for input
signals, such as overtravel, the zero point return deceleration limit switch, and external latches, to the SERVO-
PACK. Refer to the relevant SERVOPACK manual for details on the connections.

Turn ON the power supply to the MECHATROLINK-III slave devices before or at the same time as
the power supply to the Machine Controller. If you must turn ON the power supply to the Machine
Controller first, reset the network after you turn ON the power supply to the MECHATROLINK-III
Important
slave devices. Otherwise, MECHATROLINK communications may not be performed correctly.

1-5
 1.1 Introduction
SVC and SVC32 Function Modules

Network Topologies
You can connect the Machine Controller and Servo Drives with cascade connections, star connections, or
mixed cascade/star network topologies. The following figures show examples of these types of network
topologies when the MP3200 is used.

 Cascade Connection
Cascade connections allow you to connect one or more series of slave stations from the CPU Unit
MECHATROLINK-III ports. Regardless of whether a single MECHATROLINK-III port is used, as
shown in Figure 1.1, or two CPU Unit MECHATROLINK-III ports are used, as shown in Figure 1.2,
these are called cascade connections.

CPU Unit

No terminating resistor is required.

Up to 19 slave stations (Machine Controllers, servos, or I/O)

Fig. 1.1 Cascade Connections Using Only One Port

Note: This connection example uses a communications cycle of 3 ms.
CPU Unit

No terminating
resistor is
required.

No terminating
resistor is required.
Up to 32 Servo stations

Up to 38 stations, including Machine Controllers and I/O

Fig. 1.2 Cascade Connections Using Two Ports

Note: This connection example uses a communications cycle of 3 ms.

1-6
 1.1 Introduction
SVC and SVC32 Function Modules

1. Do not connect more than 19 stations up to the final slave stations to any one CPU Unit port.
2. The maximum number of stations that you can connect with cascade connections depends on the
communications cycle. Refer to the following section for details.
Note
Communications Cycle and the Number of Slave Stations (page 1-11)

 Star Connections
Star connections allow you to connect slave stations through Hub Modules that are connected to the
MECHATROLINK-III port on the CPU Unit. Each port on a Hub Module connects to only one slave sta-
tion. You can also connect one additional Hub Module to the first Hub Module.

Overview of the Motion Control Function Modules

CPU Unit

Hub Module Hub Module

1. Do not connect more than 19 stations up to the final slave stations to any one CPU Unit port, includ-
ing the Hub Modules.
2. The maximum number of stations that you can connect with star connections depends on the com-
Note
munications cycle. Refer to the following section for details.
Communications Cycle and the Number of Slave Stations (page 1-11)

1-7
 1.1 Introduction
SVC and SVC32 Function Modules

 Mixed Cascade/Star Connections

You can combine both cascade and star network topologies.

CPU Unit

Hub Module

No terminating
resistor is required.

No terminating
resistor is required.

1. Do not connect more than 19 stations to a single CPU Unit port, including the Hub Modules.
2. The maximum number of stations that you can connect with a mixed cascade/star connections
depends on the communications cycle. Refer to the following section for details.
Note
Communications Cycle and the Number of Slave Stations (page 1-11)

1-8
 1.1 Introduction
SVR and SVR32 Function Modules

SVR and SVR32 Function Modules

This section describes the features and operations of the SVR and SVR32 Function Modules.

Features
The SVR or SVR32 provides an interface to virtual axes.
This allows you to test programs and create references without connecting to physical motors.
The differences in specifications between the MP2000 Series and the MP3000 Series are outlined in the
following table.
MP3000-series
Item MP2000-series SVR Module
SVR SVR32
Maximum number

Overview of the Motion Control Function Modules

16 axes 32 axes 16 axes
of controlled axes
You can assign regis-
You can assign regis-
Register range ters for one* or two The registers for one circuit are assigned.
ters for one circuit.
circuits.
* If only one circuit is assigned, you can use a maximum of only 16 axes.
Note: Refer to the following section for other specifications.
12.1 Specifications (page 12-3)

 Application Example
Application Example Effect
You can achieve electronic cam and electronic shaft operations by using the SVR or
Phase-control master axis
SVR32 as a virtual master axis.
You can achieve synchronized operation of multiple axes by controlling the SVR or
Multi-axis synchronous
SVR32 with a motion program and copying SVR or SVR32 position references to
control
other axes with a ladder program.
You can perform circular interpolation with the SVR or SVR32 from a motion pro- 1
Sine curve references
gram to move an axis according to sine curve references.
Note: The SVR and SVR32 do not support software limits and machine locks. The position deviation will also always be
0.

Operation

 Execution Timing
The SVR or SVR32 executes processes at the beginning of the high-speed scan. SVR processing is exe-
cuted during the next scan after the scan in which the reference is set. The results of the processing are
applied to the monitor parameters.
The reference is set. SVR processing The results are applied to
monitor parameters.

SVR or SVR or SVR or

H drawing H drawing H drawing
SVR32 SVR32 SVR32

High-speed scan

The results of the H drawing The results of SVR processing

are executed in SVR can be monitored in processing in
processing in the next scan. the H drawing in the same scan.

1-9
 1.1 Introduction
SVR and SVR32 Function Modules

 Processing Time
When fixed parameter No. 0 (Operation Mode Selection) is set to 0 (Normal operation mode), processing
starts for the virtual axes in the SVR or SVR32 (32 virtual axes max.). The default for the Operation Mode
Selection parameter is 1 (Axis unused).
Approximate processing times per axis for the SVR and SVR32 are given in the following table.
Instruction Processing Time
NOP 5 + (2 × Number of axes) (μs)
POSING 5 + (2.5 × Number of axes) (μs)
Note: Number of axes: This is the number of axes (1 to 32) for which fixed parameter No. 0 (Operation Mode Selection)
is set to 0 (Normal operation mode).
The above formulas do not apply when the number of axes is 0.

Differences between the SVC or SVC32 Simulation Mode and the SVR or SVR32
Due to the following differences between the SVC or SVC32 Simulation Mode and the SVR or
SVR32, we recommend that you use the SVR or SVR32 for the virtual master to create master axis
Terms
operating patterns.

• SVC or SVC32 Simulation Mode

Simulation Mode allows you to simulate the same movements within the SVC or SVC32 as when
connected to a physical Servo Drive. Position information is updated every scan in the same way as
the SVR or SVR32. However, the same processing is performed as when references are set for a
physical Servo Drive. This may create a delay in the responses reported in the monitor parameters to
references for motion commands.
• SVR or SVR32
Because the positioning function of the Machine Controller distributes the reference, position infor-
mation is updated each scan toward the final target position, just as it would be for a physical axis.

1-10
 1.2 Synchronization between Modules
Communications Cycle and the Number of Slave Stations

1.2 Synchronization between Modules

The SVC or SVC32 operates in synchronization with the MECHATROLINK communications cycle and
with the CPU Function Module’s high-speed scan.

With the SVC or SVC32, you cannot set asynchronous operation with the high-speed scan and the
MECHATROLINK communications cycle. If asynchronous operation is set, a Scan Setting Error
Note alarm (IL04 bit 16) occurs for the Servo axis and an I/O error occurs for the I/O station.

Communications Cycle and the Number of Slave Stations

When the SVC or SVC32 is used, the relationship between the MECHATROLINK communications cycle

Overview of the Motion Control Function Modules

and the number of slave stations is given in the following tables.

 Cascade Connections
Number of Connected
Communications Stations Connection Conditions
Cycle
SVC SVC32
125 μs 1 to 3 1 to 3 −
250 μs 1 to 7 1 to 7 −
500 μs 1 to 12 1 to 12 −
1 ms 1 to 21*1 1 to 21 If more than 17 stations are connected, two ports must be used.
If more than 19 stations are connected, two ports must be used.
1.5 ms − 1 to 27
No more than 19 stations can be connected to a single port.
If more than 19 stations are connected, two ports must be used.
2 ms − 1 to 32
No more than 19 stations can be connected to a single port.
If more than 19 stations are connected, two ports must be used. 1
3 ms − 1 to 38*2
No more than 19 stations can be connected to a single port.
*1. Up to 16 Servo Drive stations can be connected.
*2. Up to 32 Servo Drive stations can be connected.

 Star Connections
Number of Connected Stations
Communications Cycle
SVC SVC32
125 μs 1 to 4 1 to 4
250 μs 1 to 8 1 to 8
500 μs 1 to 14 1 to 14
1 ms 1 to 21*1 1 to 29
1.5 ms − 1 to 42*2
2 ms − 1 to 42*2
3 ms − 1 to 42*2
*1. Up to 16 Servo Drive stations can be connected.
*2. Up to 32 Servo Drive stations can be connected.

1-11
 1.2 Synchronization between Modules
Timing at Which Modules Are Synchronized

 Mixed Cascade/Star Connections

Communications Number of Connected Stations
Connection Conditions
Cycle SVC SVC32
125 μs 1 to 4 1 to 4 Only star connections can be used.
A single cascade connection series must consist
250 μs 1 to 8 1 to 8
of no more than 2 stations.
A single cascade connection series must consist
500 μs 1 to 14 1 to 14
of no more than 6 stations.
A single cascade connection series must consist
1 ms 1 to 21*1 1 to 29
of no more than 7 stations.
A single cascade connection series must consist
1.5 ms − 1 to 42*2 of no more than 8 stations.
A single cascade connection series must consist
2 ms − 1 to 42*2 of no more than 16 stations.
A single cascade connection series must consist
3 ms − 1 to 42*2 of no more than 18 stations.
*1. Up to 16 Servo Drive stations can be connected.
*2. Up to 32 Servo Drive stations can be connected.
Note: The above connection conditions assume that the following conditions are met: Number of transmission bytes: 48,
Distance between stations: 100 m., Number of retries: 1.

If the SigmaWin+ is connected through a Machine Controller, the SigmaWin+ may not be usable if
there are too many SERVOPACK stations connected.
If this occurs, either connect the SigmaWin+ to the SERVOPACK (CN7) directly, or lengthen the
Important
communications cycle.

Timing at Which Modules Are Synchronized

Modules are automatically synchronized when the power supply is turned OFF and ON again.
If you perform any of the following operations after turning ON the power supply, save the settings to
flash memory and then turn the power supply OFF and ON again.
• When executing a self configuration from the MPE720
• When loading a Module configuration definition
• When operation changes from asynchronized to synchronized as a result of changing the communica-
tions cycle
• When operation changes from synchronized to asynchronized or from asynchronized to synchronized as
a result of changing the high-speed scan setting
• When the fixed parameters are written after turning ON the power supply

1-12
 1.2 Synchronization between Modules
Changing Synchronization Cycles

Changing Synchronization Cycles

 Changing High-speed Scan Cycle

When the high-speed scan cycle is changed, MECHATROLINK communications with all slave stations
connected to the SVC or SVC32 are reset. Operation automatically changes to synchronized when com-
munications are restored.
MECHATROLINK communications continue for all other Modules.

1. When you change the high-speed scan cycle, do so either with the CPU Function Module stopped or
when motion commands are not being executed. Otherwise, application operations may be affected.
2. When changing the high-speed scan setting, the following operations will occur because MECHA-
Important
TROLINK communications are reset.
•Position information and zero point return completion information for Servo axes will be lost.

Overview of the Motion Control Function Modules

•The software limits will be disabled when the zero point return completion information is lost.

 Changing the MECHATROLINK Communications Cycle

Operation is automatically synchronized as long as the high-speed scan setting is an integral multiple of
the communications cycle.
It is not necessary to turn the power supply OFF and ON again.

If asynchronous operation is set as a result of changing the communications cycle, an alarm will occur
for the Servo axis and an I/O error will occur for the I/O station. If this happens, change the setting
back to synchronized, save the settings to flash memory, and then turn the power supply OFF and ON
Important
again.

Reference Distribution Timing 1

References that are set during the high-speed scan are output on the transmission path in the timing shown
in the following figure.

High-speed  
scan (1 ms)
 is distributed  is distributed
during the during the
communications communications
cycle. cycle.

Communications
cycle (250 μs)

Transmission
path
Same size of Same size of
reference reference

1-13
 1.2 Synchronization between Modules
Precautions When Combining with Other Modules

Precautions When Combining with Other Modules

The SVC, SVC32, SVC-01, and SVB-01 Modules operate in synchronization with the high-speed scan of
the CPU Function Module. Therefore, the operation of all the Modules will be synchronized.
However, the SVC, SVC32, and SVC-01 Modules and the SVB-01 Module have different MECHA-
TROLINK communications methods. Because of this, even if the references are received in the same scan
with the same communications cycle setting, the timing at which those references are transmitted to slave
stations via MECHATROLINK will not coincide even though the same communications cycle settings are
used.
The SVC or SVC32 minimizes the delay between the time a reference is set and a response is received.
Therefore, the timing at which references are transmitted to the slave stations will not coincide even
between the SVC or SVC32 and SVC-01 Modules.
Observe the following precautions.
• References that are set in the same scan by the application are transmitted in the same scan to the SVC,
SVC32, SVC-01, and SVB-01 Modules. However, a specific difference occurs in the timing in which
these references are transmitted to slave stations via MECHATROLINK. Therefore, interpolation opera-
tions cannot be performed between the SVC, SVC32, and SVC-01 Modules and the SVB-01 Module.
• Interpolation operations cannot be performed between the SVC or SVC32 and SVC-01 Modules.
• For applications that require synchronicity among more than one Module, either use only SVC-01 Mod-
ules or only SVB-01 Modules.
Refer to the following manuals for details on the SVB-01 and SVC-01 Modules.
MP2000 Series Built-in SVB/SVB-01 Motion Module User’s Manual (Manual No.: SIEP C880700 33)
MP2000 Series SVC-01 Motion Module User’s Manual (Manual No.: SIEP C880700 41)

1-14
 1.3 External Appearance and Indicators
External Appearance

1.3 External Appearance and Indicators

External Appearance
The following figure shows the indicators and connectors that are related to the SVC32.

Indicators (LEDs)

Overview of the Motion Control Function Modules

MECHATROLINK-III connector CN1

MECHATROLINK-III connector CN2

Indicators
The following table describes the indicators that show the operating status of the SVC32 and error infor-
mation.
Indicator
Indicator Color Meaning When Lit
Name
MECHATROLINK-III communications are established as a
1
CN Green
CN slave (i.e., the CONNECT command is ON).
LK1 LK1 Green Port 1 is performing MECHATROLINK-III communications.
LK2
LK2 Green Port 2 is performing MECHATROLINK-III communications.

1-15
 2
Motion Control

This chapter describes the motion parameters and control block

diagrams for each type of motion control.

2.1 Position Control . . . . . . . . . . . . . . . . . . . . . . . . . . 2-2

Motion Parameters for Position Control . . . . . . . . . . . . . . . . . 2-2
Control Block Diagram for Position Control . . . . . . . . . . . . . . 2-8

2.2 Phase Control . . . . . . . . . . . . . . . . . . . . . . . . . . 2-10

Motion Parameters for Phase Control . . . . . . . . . . . . . . . . . 2-10
Control Block Diagram for Phase Control . . . . . . . . . . . . . . . 2-16

2.3 Torque Control . . . . . . . . . . . . . . . . . . . . . . . . . . 2-18

Motion Parameters for Torque Control . . . . . . . . . . . . . . . . . 2-18
Control Block Diagram for Torque Control . . . . . . . . . . . . . . 2-24

2.4 Speed Control . . . . . . . . . . . . . . . . . . . . . . . . . . 2-26

Motion Parameters for Speed Control . . . . . . . . . . . . . . . . . 2-26
Control Block Diagram for Speed Control . . . . . . . . . . . . . . . 2-32
 2.1 Position Control
Motion Parameters for Position Control

2.1 Position Control

This section describes the motion parameters and control block diagrams for position control.

Motion Parameters for Position Control

There are three types of motion parameters:
• Fixed Parameters
These parameters are used to make settings related to the Servo system.
• Setting Parameters
These parameters are used to make detailed settings for control references.
• Monitor Parameters
These parameters are used to monitor the Servo system.
The following tables list the parameters that are used for position control.

Fixed Parameters
No. Name Setting Unit Default Setting Range
0 Operation Mode Selection − 1 0 to 3
1 Function Selection Flags 1 − 0000 hex Bit settings
2 Function Selection Flags 2 − 0000 hex Bit settings
4 Reference Unit Selection − 0 0 to 4
5 Number of Digits Below Decimal Point − 3 0 to 5
Travel Distance per Machine Rotation (Rotary
Motor)
Reference units 10000 1 to 231−1
6
Linear Scale Pitch (Linear Motor) Reference units 10000 1 to 231−1
8 Servomotor Gear Ratio Term − 1 1 to 65535
9 Machine Gear Ratio Term − 1 1 to 65535
10 Infinite-length Axis Reset Position (POSMAX) Reference units 360000 1 to 231−1
12 Positive Software Limit Reference units 231−1 −231 to 231−1
14 Negative Software Limit Reference units −231 −231 to 231−1
29 Motor Type Selection − 0 0 or 1
30 Encoder Selection − 0 0 to 2
Rated Motor Speed (Rotary Motor) min-1 3000 1 to 100000
34
Rated Speed (Linear Motor) 0.1 m/s or 0.1 mm/s 3000 1 to 100000
Number of Pulses Per Motor Rotation (Rotary
Motor)
Pulses 65536 1 to 231−1
36
Number of Pulses Per Linear Scale Pitch (Linear Pulses/linear scale
Motor) pitch
65536 1 to 231−1
Maximum Number of Absolute Encoder Rota-
38
tions
rev 65534 0 to 231−1
Feedback Speed Movement Averaging Time Con-
42 ms 10 0 to 32
stant
44 User-specified SERVOPACK Parameter Number − 0 0 to 65535
45 User-specified SERVOPACK Parameter Size Words 1 1 to 2

2-2
 2.1 Position Control
Motion Parameters for Position Control

Setting Parameters
The parameters with gray backgrounds ( ) in the following table are not used for position control.
Register
Name Setting Unit Default Setting Range
Address
OW00 Operation Command Settings − 0000 hex Bit settings
OW01 Mode Settings 1 − 0000 hex Bit settings
OW02 Mode Settings 2 − 0000 hex Bit settings
OW03 Function Settings 1 − 0011 hex Bit settings
OW04 Function Settings 2 − 0033 hex Bit settings
OW05 Function Settings 3 − 0000 hex Bit settings
M-III Vendor-specific Servo Com-
OW06 − 0000 hex Bit settings
mand Output Signal
OW08 Motion Commands − 0 0 to 38
OW09 Motion Command Control Flags − 0000 hex Bit settings
OW0A Motion Subcommands − 0 0 to 6
Depends on the setting of
Torque/Force Reference Setting or
OL0C
Torque Feedforward Compensation
the Torque Unit Selection 0 −231 to 231−1
parameter.
Speed Limit for Torque/Force Refer- −32768 to
OW0E 0.01% 15000
ence 32767
Depends on the setting of
OL10 Speed Reference Setting the Speed Unit Selection 3000 −231 to 231−1
parameter.
OW12 Speed Limit 0.01% 0 0 to 32767
Depends on the setting of
OL14 Torque/Force Limit the Torque Unit Selection 30000 −231 to 231−1
parameter.

Motion Control
Depends on the setting of
OL16 Second Speed Compensation the Speed Unit Selection 0 −231 to 231−1
parameter.
OW18 Override 0.01% 10000 0 to 32767
OL1C Position Reference Setting Reference units 0 −231 to 231−1
OL1E Positioning Completion Width Reference units 100 0 to 65535 2
OL20 NEAR Signal Output Width Reference units 0 0 to 65535
OL22 Excessive Deviation Detection Value Reference units 231−1 0 to 231−1
OW26 Positioning Completion Check Time ms 0 0 to 65535
OL28 Phase Compensation Setting Reference units 0 −231 to 231−1
OL2A Latch Zone Lower Limit Setting Reference units −231 −231 to 231−1
OL2C Latch Zone Upper Limit Setting Reference units 231−1 −231 to 231−1
OW2E Position Loop Gain 0.1/s 300 0 to 32767
OW2F Speed Loop Gain Hz 40 1 to 2000
OW30 Speed Feedforward Compensation 0.01% 0 0 to 32767
−32768 to
OW31 Speed Compensation 0.01% 0
32767
OW32 Position Loop Integral Time Constant ms 0 0 to 32767
OW34 Speed Loop Integral Time Constant 0.01 ms 2000 15 to 65535
Continued on next page.

2-3
 2.1 Position Control
Motion Parameters for Position Control

Continued from previous page.

Register
Name Setting Unit Default Setting Range
Address
Depends on the setting of
Linear Acceleration Rate/Accelera- the Acceleration/Decel-
OL36
tion Time Constant eration Rate Unit Selec-
0 0 to 231−1
tion parameter.
Depends on the setting of
Linear Deceleration Rate/Decelera- the Acceleration/Decel-
OL38
tion Time Constant eration Rate Unit Selec-
0 0 to 231−1
tion parameter.
OW3A Filter Time Constant 0.1 ms 0 0 to 65535
Depends on the setting of
Bias Speed for Indexed Deceleration/
OW3B the Speed Unit Selection 0 0 to 32767
Acceleration Filter
parameter.
OW3C Zero Point Return Method − 0 0 to 19
OW3D Zero Point Position Output Width Reference units 100 0 to 65535
Depends on the setting of
OL3E Approach Speed the Speed Unit Selection 1000 −231 to 231−1
parameter.
Depends on the setting of
OL40 Creep Speed the Speed Unit Selection 500 −231 to 231−1
parameter.
OL42 Zero Point Return Travel Distance Reference units 0 −231 to 231−1
OL44 STEP Travel Distance Reference units 1000 0 to 231−1
External Positioning Final Travel Dis-
OL46
tance
Reference units 0 −231 to 231−1
Zero Point Position Offset in Machine
OL48
Coordinate System
Reference units 0 −231 to 231−1

OL4A Working Coordinate System Offset Reference units 0 −231 to 231−1

Number of POSMAX Turns Preset
OL4C
Data
rev 0 −231 to 231−1
OW4E SERVOPACK User Monitor Setting − 0700 hex Bit settings
SERVOPACK Alarm Monitor Num-
OW4F − 0 0 to 10
ber
OW50 SERVOPACK Parameter Number − 0 0 to 65535
OW51 SERVOPACK Parameter Size Words 1 1 or 2
OL52 SERVOPACK Parameter Set Value − 0 −231 to 231−1
Auxiliary SERVOPACK Parameter
OW54 − 0 0 to 65535
Number
Auxiliary SERVOPACK Parameter
OW55 Words 1 1 or 2
Size
Auxiliary SERVOPACK Parameter
OL56 − 0 −231 to 231−1
Set Value
0 to FFFFFFFF
OL58 Address Setting − 0
hex
OW5B Device Information Selection Code − 0 0 to 65535
OW5C Fixed Parameter Number − 0 0 to 65535
Power OFF Encoder Position
OL5E (Encoder position when power is off) Pulses 0 −231 to 231−1
(Lower 2 Words)
Power OFF Encoder Position
OL60 (Encoder position when power is off) Pulses 0 −231 to 231−1
(Upper 2 Words)
Continued on next page.

2-4
 2.1 Position Control
Motion Parameters for Position Control

Continued from previous page.

Register
Name Setting Unit Default Setting Range
Address
Power OFF Pulse Position
OL62 (Pulse position when power is off) Pulses 0 −231 to 231−1
(Lower 2 Words)
Power OFF Pulse Position
OL64 (Pulse position when power is off) Pulses 0 −231 to 231−1
(Upper 2 Words)
OL66 Positive Software Limit Reference units 231−1 −231 to 231−1
OL68 Negative Software Limit Reference units −231 −231 to 231−1
User-specified SERVOPACK Param-
OL70 − 0 −231 to 231−1
eter Set Value

Motion Control
2

2-5
 2.1 Position Control
Motion Parameters for Position Control

Monitor Parameters
Register
Name Unit Default Range
Address
IW00 RUN Status − − Bit settings
IW01 Out-of-range Parameter Number − − 0 to 65535
IL02 Warnings − − Bit settings
IL04 Alarms − − Bit settings
IW08 Motion Command Response Code − − 0 to 38
IW09 Motion Command Status − − Bit settings
IW0A Motion Subcommand Response Code − − 0 to 6
IW0B Motion Subcommand Status − − Bit settings
IW0C Position Management Status − − Bit settings
Machine Coordinate System Target
IL0E Reference units − −231 to 231−1
Position (TPOS)
Machine Coordinate System Calcu-
IL10 Reference units − −231 to 231−1
lated Position (CPOS)
Machine Coordinate System Refer-
IL12 Reference units − −231 to 231−1
ence Position (MPOS)
IL14 32-bit DPOS (DPOS) Reference units − −231 to 231−1
Machine Coordinate System Feed-
IL16 Reference units − −231 to 231−1
back Position (APOS)
Machine Coordinate System Latch
IL18 Reference units − −231 to 231−1
Position (LPOS)
IL1A Position Deviation (PERR) Reference units − −231 to 231−1
Target Position Increment Monitor
IL1C (PDV) Reference units − −231 to 231−1
(Target position difference monitor)
IL1E Number of POSMAX Turns Turns − −231 to 231−1
IL20 Speed Reference Output Monitor Pulses/s − −231 to 231−1
M-III Servo Command Input Signal
IL28 − − Bit settings
Monitor
IL2A M-III Servo Command Status − − Bit settings
IW2C M-III Command Status − − Bit settings
−32768 to
IW2D SERVOPACK Alarm Code − −
32767
SERVOPACK User Monitor Informa-
IW2F − − Bit settings
tion
IL30 SERVOPACK User Monitor 2 − − −231 to 231−1
IL34 SERVOPACK User Monitor 4 − − −231 to 231−1
IW36 SERVOPACK Parameter Number − − 0 to 65535
Auxiliary SERVOPACK Parameter
IW37 − − 0 to 65535
Number
IL38 SERVOPACK Parameter Read Data − − −231 to 231−1
Auxiliary SERVOPACK Parameter
IL3A − − −231 to 231−1
Read Data
IW3F Motor Type − − 0 or 1
Depends on the setting of
IL40 Feedback Speed the Speed Unit Selection − −231 to 231−1
parameter.
Continued on next page.

2-6
 2.1 Position Control
Motion Parameters for Position Control

Continued from previous page.

Register
Name Unit Default Range
Address
Depends on the setting of
IL42 Torque/Force Reference Monitor the Torque Unit Selection − −231 to 231−1
parameter.
IL56 Fixed Parameter Monitor − − −231 to 231−1
IW5B Device Information Monitor Code − 0 0 to 65535
Power OFF Encoder Position
IL5E (Encoder position when power is off) Pulses − −231 to 231−1
(Lower 2 Words)
Power OFF Encoder Position
IL60 (Encoder position when power is off) Pulses − −231 to 231−1
(Upper 2 Words)
Power OFF Pulse Position
IL62 (Pulse position when power is off) Pulses − −231 to 231−1
(Lower 2 Words)
Power OFF Pulse Position
IL64 (Pulse position when power is off) Pulses − −231 to 231−1
(Upper 2 Words)

Motion Control
2

2-7
 2.1 Position Control
Control Block Diagram for Position Control

Control Block Diagram for Position Control

The following diagram shows the relationships between the control block and motion parameters for posi-
tion control.
Machine Controller

SVC or SVC32
OW00 Operation Command Settings
Operation Settings

OW01 Mode Settings 1

OW02 Mode Settings 2
OW03 Function Settings 1
OW04 Function Settings 2
OW05 Function Settings 3
OW08 Motion Commands
OW09 Motion Command Control Flags
OW0A Motion Subcommands

OL10 Speed Reference Setting Override

Speed/Position

OW18 Override OW18

References

OL1C Position Reference Setting

OL1E Positioning Completion Width POSING Electronic
OL20 NEAR Signal Output Width Position pattern generation and gear Σ
OL22 Excessive Deviation Detection Value
INTERPOLATE compensation

OW26 Positioning Completion Check Time p

δp
OW31 Speed Compensation
Acceleration/

ts t
Deceleration

OL0C Torque/Force Reference Setting

OL36 Linear Acceleration Rate/Acceleration Time Constant Motion program
Acceleration/deceleration:
OL38 Linear Deceleration Rate/Deceleration Time Constant IAC and IDC
OL14 Torque/Force Limit
OW3A Filter Time Constant Motion program or
user application
Zero Point

OW3C Zero Point Return Method

(ladder program)
Return

OW3D Zero Point Position Output Width

OL3E Approach Speed Note: Processed by the CPU
OL40 Creep Speed
Function Module.
OL42 Zero Point Return Travel Distance
Valid for INTERPOLATE only
Speed

Speed reference unit

Coordinates Feed

OL44 STEP Travel Distance conversion

OL46 External Positioning Final Travel Distance OL0C Torque/force reference unit
conversion
OL14
OL48 Zero Point Position Offset in Machine Coordinate System
OL4A Working Coordinate System Offset
OL4C Number of POSMAX Turns Preset Data
Information
Operation

IW00 RUN Status

IL02 Warnings
IL04 Alarms
Motion Command

IW08 Motion Command Response Code

Information

IW09 Motion Command Status

IW0A Motion Subcommand Response Code
IW0B Motion Subcommand Status
POSMAX processing Σ
IW0C Position Management Status
Position Information

IL0E Machine Coordinate System Target Position (TPOS)

IL10 Machine Coordinate System Calculated Position (CPOS)
IL12 Machine Coordinate System Reference Position (MPOS)
IL14 32-bit DPOS (DPOS)
POSMAX processing Electronic gear
IL16 Machine Coordinate System Feedback Position (APOS)
IL18 Machine Coordinate System Latch Position (LPOS) POSMAX processing Electronic gear

IL1A Position Deviation (PERR) Electronic gear

+
IL1E Number of POSMAX Turns -
IL20 Speed Reference Output Monitor

IW2C M-III Command Status

IW2D SERVOPACK Alarm Code
SERVOPACK
Information

IW2F SERVOPACK User Monitor Information

IL30 SERVOPACK User Monitor 2
IL34 SERVOPACK User Monitor 4

IL40 Feedback Speed

IL42 Torque/Force Reference Monitor

2-8
 2.1 Position Control
Control Block Diagram for Position Control

SERVOPACKs

Acceleration/
deceleration Acceleration
processing Speed Feedforward
(OL36)
S Compensation
POSING
Deceleration
Differ-
Pn109 B
(OL38) ential Pn10A
A
(OW30) Position Loop Gain Speed Loop Gain
Kp Kv
INTERPOLATE B Vref Current
Filter Pn102 Pn100 M
A loop
(OW2E) (OW2F)
Pn811 or Pn812 FB Position Loop Speed Loop
(OW3A) Integral Time Integral Time
Constant Constant
Ti NTi
Pn11F Pn101
(OW32) (OW34)

TRQ

Motion Control
Analog monitor value

MPOS
A
APOS B
Counter PG
A
LPOS Counter
B

Latch
signal

2-9
 2.2 Phase Control
Motion Parameters for Phase Control

2.2 Phase Control

This section describes the motion parameters and control block diagrams for phase control.

When the Σ-V-series tuning or vibration suppression functions are used to perform Servo adjustments
and model following control is enabled (i.e., when Pn140.0 = 1), control performance for phase refer-
ences will not be obtained. In this case, you must perform the following settings on the SERVOPACK
Important
before you execute a phase reference.
• Disable model following control (set Pn140.0 to 0).
• Select one of the following tuning modes before performing tuning.
• Select Tuning Mode 1 (Standard Tuning Level) to perform advanced autotuning or advanced
autotuning by reference.
• Select Tuning Mode 0 or 1 to perform one-parameter tuning.

Motion Parameters for Phase Control

There are three types of motion parameters:
• Fixed Parameters
These parameters are used to make settings related to the Servo system.
• Setting Parameters
These parameters are used to make detailed settings for control references.
• Monitor Parameters
These parameters are used to monitor the Servo system.
The following table lists the parameters that are used for phase control.

Fixed Parameters
Setting
No. Name Setting Unit Default
Range
0 Operation Mode Selection − 1 0 to 3
1 Function Selection Flags 1 − 0000 hex Bit settings
2 Function Selection Flags 2 − 0000 hex Bit settings
4 Reference Unit Selection − 0 0 to 4
5 Number of Digits Below Decimal Point − 3 0 to 5
Travel Distance per Machine Rotation (Rotary
Motor)
Reference units 10000 1 to 231−1
6
Linear Scale Pitch (Linear Motor) Reference units 10000 1 to 231−1
8 Servomotor Gear Ratio Term − 1 1 to 65535
9 Machine Gear Ratio Term − 1 1 to 65535
10 Infinite-length Axis Reset Position (POSMAX) Reference units 360000 1 to 231−1
12 Positive Software Limit Reference units 231−1 −231 to 231−1
14 Negative Software Limit Reference units −231 −231 to 231−1
29 Motor Type Selection − 0 0 or 1
30 Encoder Selection − 0 0 to 2
Rated Motor Speed (Rotary Motor) min-1 3000 1 to 100000
34
Rated Speed (Linear Motor) 0.1 m/s or 0.1 mm/s 3000 1 to 100000
Continued on next page.

2-10
 2.2 Phase Control
Motion Parameters for Phase Control

Continued from previous page.

Setting
No. Name Setting Unit Default
Range
Number of Pulses Per Motor Rotation (Rotary
Motor)
Pulses 65536 1 to 231−1
36
Number of Pulses Per Linear Scale Pitch (Linear Pulses/linear scale
Motor) pitch
65536 1 to 231−1

38 Maximum Number of Absolute Encoder Rotations rev 65534 0 to 231−1

Feedback Speed Movement Averaging Time Con-
42 ms 10 0 to 32
stant
44 User-specified SERVOPACK Parameter Number − 0 0 to 65535
45 User-specified SERVOPACK Parameter Size Words 1 1 to 2

Setting Parameters
The parameters with gray backgrounds ( ) in the following table are not used for phase control.
Register
Name Setting Unit Default Setting Range
Address
OW00 Operation Command Settings − 0000 hex Bit settings
OW01 Mode Settings 1 − 0000 hex Bit settings
OW02 Mode Settings 2 − 0000 hex Bit settings
OW03 Function Settings 1 − 0011 hex Bit settings
OW04 Function Settings 2 − 0033 hex Bit settings
OW05 Function Settings 3 − 0000 hex Bit settings
M-III Vendor-specific Servo Com-
OW06 − 0000 hex Bit settings
mand Output Signal
OW08 Motion Commands − 0 0 to 38

Motion Control
OW09 Motion Command Control Flags − 0000 hex Bit settings
OW0A Motion Subcommands − 0 0 to 6
Depends on the setting of
Torque/Force Reference Setting or
OL0C
Torque Feedforward Compensation
the Torque Unit Selection 0 −231 to 231−1
parameter.

OW0E
Speed Limit for Torque/Force Refer-
0.01% 15000
−32768 to 2
ence 32767
Depends on the setting of
OL10 Speed Reference Setting the Speed Unit Selection 3000 −231 to 231−1
parameter.
OW12 Speed Limit 0.01% 0 0 to 32767
Depends on the setting of
OL14 Torque/Force Limit the Torque Unit Selection 30000 −231 to 231−1
parameter.
Depends on the setting of
OL16 Second Speed Compensation the Speed Unit Selection 0 −231 to 231−1
parameter.
OW18 Override 0.01% 10000 0 to 32767
OL1C Position Reference Setting Reference units 0 −231 to 231−1
OL1E Positioning Completion Width Reference units 100 0 to 65535
OL20 NEAR Signal Output Width Reference units 0 0 to 65535
OL22 Excessive Deviation Detection Value Reference units 231−1 0 to 231−1
OW26 Positioning Completion Check Time ms 0 0 to 65535
OL28 Phase Compensation Setting Reference units 0 −231 to 231−1
Continued on next page.

2-11
 2.2 Phase Control
Motion Parameters for Phase Control

Continued from previous page.

Register
Name Setting Unit Default Setting Range
Address
OL2A Latch Zone Lower Limit Setting Reference units −231 −231 to 231−1
OL2C Latch Zone Upper Limit Setting Reference units 231−1 −231 to 231−1
OW2E Position Loop Gain 0.1/s 300 0 to 32767
OW2F Speed Loop Gain Hz 40 1 to 2000
OW30 Speed Feedforward Compensation 0.01% 0 0 to 32767
−32768 to
OW31 Speed Compensation 0.01% 0
32767
OW32 Position Loop Integral Time Constant ms 0 0 to 32767
OW34 Speed Loop Integral Time Constant 0.01 ms 2000 15 to 65535
Depends on the setting of
Linear Acceleration Rate/Acceleration the Acceleration/Decel-
OL36
Time Constant eration Rate Unit Selec-
0 0 to 231−1
tion parameter.
Depends on the setting of
Linear Deceleration Rate/Deceleration the Acceleration/Decel-
OL38
Time Constant eration Rate Unit Selec-
0 0 to 231−1
tion parameter.
OW3A Filter Time Constant 0.1 ms 0 0 to 65535
Depends on the setting of
Bias Speed for Indexed Deceleration/
OW3B the Speed Unit Selection 0 0 to 32767
Acceleration Filter
parameter.
OW3C Zero Point Return Method − 0 0 to 19
OW3D Zero Point Position Output Width Reference units 100 0 to 65535
Depends on the setting of
OL3E Approach Speed the Speed Unit Selection 1000 −231 to 231−1
parameter.
Depends on the setting of
OL40 Creep Speed the Speed Unit Selection 500 −231 to 231−1
parameter.
OL42 Zero Point Return Travel Distance Reference units 0 −231 to 231−1
OL44 STEP Travel Distance Reference units 1000 0 to 231−1
OL46 External Positioning Final Travel Distance Reference units 0 −231 to 231−1
Zero Point Position Offset in Machine
OL48
Coordinate System
Reference units 0 −231 to 231−1

OL4A Working Coordinate System Offset Reference units 0 −231 to 231−1

OL4C Number of POSMAX Turns Preset Data rev 0 −231 to 231−1
OW4E SERVOPACK User Monitor Setting − 0700 hex Bit settings
OW4F SERVOPACK Alarm Monitor Number − 0 0 to 10
OW50 SERVOPACK Parameter Number − 0 0 to 65535
OW51 SERVOPACK Parameter Size Words 1 1 or 2
OL52 SERVOPACK Parameter Set Value − 0 −231 to 231−1
Auxiliary SERVOPACK Parameter
OW54 − 0 0 to 65535
Number
Auxiliary SERVOPACK Parameter
OW55 Words 1 1 or 2
Size
Auxiliary SERVOPACK Parameter Set
OL56 − 0 −231 to 231−1
Value
Continued on next page.

2-12
 2.2 Phase Control
Motion Parameters for Phase Control

Continued from previous page.

Register
Name Setting Unit Default Setting Range
Address
0 to FFFFFFFF
OL58 Address Setting − 0
hex
OW5B Device Information Selection Code − 0 0 to 65535
OW5C Fixed Parameter Number − 0 0 to 65535
Power OFF Encoder Position
OL5E (Encoder position when power is off) Pulses 0 −231 to 231−1
(Lower 2 Words)
Power OFF Encoder Position
OL60 (Encoder position when power is off) Pulses 0 −231 to 231−1
(Upper 2 Words)
Power OFF Pulse Position
OL62 (Pulse position when power is off) Pulses 0 −231 to 231−1
(Lower 2 Words)
Power OFF Pulse Position
OL64 (Pulse position when power is off) Pulses 0 −231 to 231−1
(Upper 2 Words)
OL66 Positive Software Limit Reference units 231−1 −231 to 231−1
OL68 Negative Software Limit Reference units −231 −231 to 231−1
User-specified SERVOPACK Parame-
OL70 − 0 −231 to 231−1
ter Set Value

Motion Control
2

2-13
 2.2 Phase Control
Motion Parameters for Phase Control

Monitor Parameters
Register
Name Unit Default Range
Address
IW00 RUN Status − − Bit settings
IW01 Out-of-range Parameter Number − − 0 to 65535
IL02 Warnings − − Bit settings
IL04 Alarms − − Bit settings
IW08 Motion Command Response Code − − 0 to 38
IW09 Motion Command Status − − Bit settings
IW0A Motion Subcommand Response Code − − 0 to 6
IW0B Motion Subcommand Status − − Bit settings
IW0C Position Management Status − − Bit settings
Machine Coordinate System Target Position
IL0E Reference units − −231 to 231−1
(TPOS)
Machine Coordinate System Calculated
IL10 Reference units − −231 to 231−1
Position (CPOS)
Machine Coordinate System Reference
IL12 Reference units − −231 to 231−1
Position (MPOS)
IL14 32-bit DPOS (DPOS) Reference units − −231 to 231−1
Machine Coordinate System Feedback Posi-
IL16 Reference units − −231 to 231−1
tion (APOS)
Machine Coordinate System Latch Position
IL18 Reference units − −231 to 231−1
(LPOS)
IL1A Position Deviation (PERR) Reference units − −231 to 231−1
IL1C Target Position Increment Monitor Reference units − −231 to 231−1
IL1E Number of POSMAX Turns Turns − −231 to 231−1
IL20 Speed Reference Output Monitor Pulses/s − −231 to 231−1
M-III Servo Command Input Signal Moni-
IL28 − − Bit settings
tor
IL2A M-III Servo Command Status − − Bit settings
IW2C M-III Command Status − − Bit settings
−32768 to
IW2D SERVOPACK Alarm Code − −
32767
IW2F SERVOPACK User Monitor Information − − Bit settings
IL30 SERVOPACK User Monitor 2 − − −231 to 231−1
IL34 SERVOPACK User Monitor 4 − − −231 to 231−1
IW36 SERVOPACK Parameter Number − − 0 to 65535
IW37 Auxiliary SERVOPACK Parameter Number − − 0 to 65535
IL38 SERVOPACK Parameter Read Data − − −231 to 231−1
Auxiliary SERVOPACK Parameter Read
IL3A − − −231 to 231−1
Data
IW3F Motor Type − − 0 or 1
Depends on the set-
ting of the Speed
IL40 Feedback Speed − −231 to 231−1
Unit Selection
parameter.
Depends on the set-
ting of the Torque
IL42 Torque/Force Reference Monitor − −231 to 231−1
Unit Selection
parameter.
Continued on next page.

2-14
 2.2 Phase Control
Motion Parameters for Phase Control

Continued from previous page.

Register
Name Unit Default Range
Address
IL56 Fixed Parameter Monitor − − −231 to 231−1
IW5B Device Information Monitor Code − 0 0 to 65535
Power OFF Encoder Position (Lower 2
IL5E Pulses − −231 to 231−1
Words)
Power OFF Encoder Position (Upper 2
IL60 Pulses − −231 to 231−1
Words)
IL62 Power OFF Pulse Position (Lower 2 Words) Pulses − −231 to 231−1
IL64 Power OFF Pulse Position (Upper 2 Words) Pulses − −231 to 231−1

Motion Control
2

2-15
 2.2 Phase Control
Control Block Diagram for Phase Control

Control Block Diagram for Phase Control

The following diagram shows the relationships between the control block and motion parameters for
phase control.
Machine Controller

SVC or SVC32
OW00 Operation Command Settings
Operation

OW03 Function Settings 1

Settings

OW05 Function Settings 3

OW08 Motion Commands Phase reference generation
OW09 Motion Command Control Flags when using an electronic shaft
OW0A Motion Subcommands
Calculation of position Reference
Speed Reference Setting change equivalent to position +
OL10 processing
OL1E Positioning Completion Width speed reference (integration) +
OL20 NEAR Signal Output Width
OL22 Excessive Deviation Detection Value Calculation of Unit conversion
Disable Phase
increment
Speed/Position References

Positioning Completion Check Time from reference

OW26 from the units Reference
previous scan to pulses Calculation
(OW05, Bit 1)

Phase reference generation when

using an electronic cam
OFF
Unit conversion
from reference
OL28 Phase Compensation Setting units
to pulses ON ON
OFF
Calculation of Unit conversion Reference Phase
increment from from reference + position
the previous units processing Compensation Type
scan to pulses (integration) (OW09, Bit 6)
Constants Compensation

OW31 Speed Compensation Speed reference unit +

OL16 Second Speed Compensation conversion
OL0C Torque/Force Reference Setting +
+
OL14 Torque/Force Limit Speed reference unit
conversion
OW3A Filter Time Constant
Time

Speed reference unit

conversion
Torque/force reference unit
Coordinates

OL48 Zero Point Position Offset in Machine Coordinate System conversion

OL4A Working Coordinate System Offset
OL4C Number of POSMAX Turns Preset Data
Information
Operation

IW00 RUN Status

IL02 Warnings
IL04 Alarms
IW08 Motion Command Response Code
Information
Command
Motion

IW09 Motion Command Status

IW0A Motion Subcommand Response Code
IW0B Motion Subcommand Status
POSMAX processing Σ
IW0C Position Management Status
IL0E Machine Coordinate System Target Position (TPOS)
Information

IL10 Machine Coordinate System Calculated Position (CPOS)

Position

IL12 Machine Coordinate System Reference Position (MPOS) Unit conversion

POSMAX processing from reference
IL14 32-bit DPOS (DPOS) units
IL16 Machine Coordinate System Feedback Position (APOS) to pulses
IL18 Machine Coordinate System Latch Position (LPOS)
Position Deviation (PERR) Unit conversion
IL1A from reference
IL1E Number of POSMAX Turns POSMAX processing units
to pulses
IW2C M-III Command Status
IW2D SERVOPACK Alarm Code Unit conversion +
from reference
SERVOPACK

IW2F SERVOPACK User Monitor Information

Information

units -
IL30 SERVOPACK User Monitor 2 to pulses
IL34 SERVOPACK User Monitor 4
IL40 Feedback Speed
IL42 Torque/Force Reference Monitor

2-16
 2.2 Phase Control
Control Block Diagram for Phase Control

SERVOPACKs

Speed Feedforward
S
Compensation*
Differ- B
ential Pn109 Pn10A
A
Position Loop Gain Speed Loop Gain
(OW30)
Kp Kv
B Vref Current
Filter Pn102 Pn100 M
A loop
(OW2E) (OW2F)
OW3A Position Loop Speed Loop
FB Integral Time Integral Time
Constant Constant
Ti NTi
Pn11F Pn101
(OW32) (OW34)

Motion Control
TRQ
Analog monitor value

2
MPOS

A
APOS B
Counter PG

A
LPOS B
Counter
Latch signal

* Set 0 to use phase references.

2-17
 2.3 Torque Control
Motion Parameters for Torque Control

2.3 Torque Control

This section describes the motion parameters and control block diagrams for torque control.

Motion Parameters for Torque Control

There are three types of motion parameters:
• Fixed Parameters
These parameters are used to make settings related to the Servo system.
• Setting Parameters
These parameters are used to make detailed settings for control references.
• Monitor Parameters
These parameters are used to monitor the Servo system.
The following table lists the parameters that are used for torque control.

Fixed Parameters
Setting
No. Name Setting Unit Default
Range
0 Operation Mode Selection − 1 0 to 3
1 Function Selection Flags 1 − 0000 hex Bit settings
2 Function Selection Flags 2 − 0000 hex Bit settings
4 Reference Unit Selection − 0 0 to 4
5 Number of Digits Below Decimal Point − 3 0 to 5
Travel Distance per Machine Rotation (Rotary
Motor)
Reference units 10000 1 to 231−1
6
Linear Scale Pitch (Linear Motor) Reference units 10000 1 to 231−1
8 Servomotor Gear Ratio Term − 1 1 to 65535
9 Machine Gear Ratio Term − 1 1 to 65535
10 Infinite-length Axis Reset Position (POSMAX) Reference units 360000 1 to 231−1
12 Positive Software Limit Reference units 231−1 −231 to 231−1
14 Negative Software Limit Reference units −231 −231 to 231−1
29 Motor Type Selection − 0 0 or 1
30 Encoder Selection − 0 0 to 2
Rated Motor Speed (Rotary Motor) min-1 3000 1 to 100000
34
Rated Speed (Linear Motor) 0.1 m/s or 0.1 mm/s 3000 1 to 100000
Number of Pulses Per Motor Rotation (Rotary
Motor)
Pulses 65536 1 to 231−1
36
Number of Pulses Per Linear Scale Pitch (Linear
Motor)
Pulses/linear scale pitch 65536 1 to 231−1
Maximum Number of Absolute Encoder Rota-
38
tions
rev 65534 0 to 231−1
Feedback Speed Movement Averaging Time
42 ms 10 0 to 32
Constant
44 User-specified SERVOPACK Parameter Number − 0 0 to 65535
45 User-specified SERVOPACK Parameter Size Words 1 1 to 2

2-18
 2.3 Torque Control
Motion Parameters for Torque Control

Setting Parameters
The parameters with gray backgrounds ( ) in the following table are not used for torque control.
Register
Name Setting Unit Default Setting Range
Address
OW00 Operation Command Settings − 0000 hex Bit settings
OW01 Mode Settings 1 − 0000 hex Bit settings
OW02 Mode Settings 2 − 0000 hex Bit settings
OW03 Function Settings 1 − 0011 hex Bit settings
OW04 Function Settings 2 − 0033 hex Bit settings
OW05 Function Settings 3 − 0000 hex Bit settings
M-III Vendor-specific Servo Com-
OW06 − 0000 hex Bit settings
mand Output Signal
OW08 Motion Commands − 0 0 to 38
OW09 Motion Command Control Flags − 0000 hex Bit settings
OW0A Motion Subcommands − 0 0 to 6
Depends on the setting of
Torque/Force Reference Setting or
OL0C
Torque Feedforward Compensation
the Torque Unit Selection 0 −231 to 231−1
parameter.
Speed Limit for Torque/Force Refer- −32768 to
OW0E 0.01% 15000
ence 32767
Depends on the setting of
OL10 Speed Reference Setting the Speed Unit Selection 3000 −231 to 231−1
parameter.
OW12 Speed Limit 0.01% 0 0 to 32767
Depends on the setting of
OL14 Torque/Force Limit the Torque Unit Selection 30000 −231 to 231−1
parameter.

Motion Control
Depends on the setting of
OL16 Second Speed Compensation the Speed Unit Selection 0 −231 to 231−1
parameter.
OW18 Override 0.01% 10000 0 to 32767
OL1C Position Reference Setting Reference units 0 −231 to 231−1
OL1E Positioning Completion Width Reference units 100 0 to 65535 2
OL20 NEAR Signal Output Width Reference units 0 0 to 65535
OL22 Excessive Deviation Detection Value Reference units 231−1 0 to 231−1
OW26 Positioning Completion Check Time ms 0 0 to 65535
OL28 Phase Compensation Setting Reference units 0 −231 to 231−1
Latch Zone Lower Limit Setting (for
OL2A
External Positioning)
Reference units −231 −231 to 231−1
Latch Zone Upper Limit Setting (for
OL2C
External Positioning)
Reference units 231−1 −231 to 231−1
OW2E Position Loop Gain 0.1/s 300 0 to 32767
OW2F Speed Loop Gain Hz 40 1 to 2000
OW30 Speed Feedforward Compensation 0.01% 0 0 to 32767
−32768 to
OW31 Speed Compensation 0.01% 0
32767
OW32 Position Loop Integral Time Constant ms 0 0 to 32767
OW34 Speed Loop Integral Time Constant 0.01 ms 2000 15 to 65535
Continued on next page.

2-19
 2.3 Torque Control
Motion Parameters for Torque Control

Continued from previous page.

Register
Name Setting Unit Default Setting Range
Address
Depends on the setting of
Linear Acceleration Rate/Acceleration the Acceleration/Decel-
OL36
Time Constant eration Rate Unit Selec-
0 0 to 231−1
tion parameter.
Depends on the setting of
Linear Deceleration Rate/Deceleration the Acceleration/Decel-
OL38
Time Constant eration Rate Unit Selec-
0 0 to 231−1
tion parameter.
OW3A Filter Time Constant 0.1 ms 0 0 to 65535
Depends on the setting of
Bias Speed for Indexed Deceleration/
OW3B the Speed Unit Selection 0 0 to 32767
Acceleration Filter
parameter.
OW3C Zero Point Return Method − 0 0 to 19
OW3D Zero Point Position Output Width Reference units 100 0 to 65535
Depends on the setting of
OL3E Approach Speed the Speed Unit Selection 1000 −231 to 231−1
parameter.
Depends on the setting of
OL40 Creep Speed the Speed Unit Selection 500 −231 to 231−1
parameter.
OL42 Zero Point Return Travel Distance Reference units 0 −231 to 231−1
OL44 STEP Travel Distance Reference units 1000 0 to 231−1
External Positioning Final Travel Dis-
OL46
tance
Reference units 0 −231 to 231−1
Zero Point Position Offset in Machine
OL48
Coordinate System
Reference units 0 −231 to 231−1

OL4A Working Coordinate System Offset Reference units 0 −231 to 231−1

Number of POSMAX Turns Preset
OL4C
Data
rev 0 −231 to 231−1
OW4E SERVOPACK User Monitor Setting − 0700 hex Bit settings
OW4F SERVOPACK Alarm Monitor Number − 0 0 to 10
OW50 SERVOPACK Parameter Number − 0 0 to 65535
OW51 SERVOPACK Parameter Size Words 1 1 or 2
OL52 SERVOPACK Parameter Set Value − 0 −231 to 231−1
Auxiliary SERVOPACK Parameter
OW54 − 0 0 to 65535
Number
Auxiliary SERVOPACK Parameter
OW55 Words 1 1 or 2
Size
Auxiliary SERVOPACK Parameter Set
OL56 − 0 −231 to 231−1
Value
0 to FFFFFFFF
OL58 Address Setting − 0
hex
OW5B Device Information Selection Code − 0 0 to 65535
OW5C Fixed Parameter Number − 0 0 to 65535
Power OFF Encoder Position (Lower 2
OL5E
Words)
Pulses 0 −231 to 231−1
Power OFF Encoder Position (Upper 2
OL60
Words)
Pulses 0 −231 to 231−1
Power OFF Pulse Position (Lower 2
OL62
Words)
Pulses 0 −231 to 231−1
Continued on next page.

2-20
 2.3 Torque Control
Motion Parameters for Torque Control

Continued from previous page.

Register
Name Setting Unit Default Setting Range
Address
Power OFF Pulse Position (Upper 2
OL64
Words)
Pulses 0 −231 to 231−1

OL66 Positive Software Limit Reference units 231−1 −231 to 231−1

OL68 Negative Software Limit Reference units −231 −231 to 231−1
User-specified SERVOPACK Parame-
OL70 − 0 −231 to 231−1
ter Set Value

Motion Control
2

2-21
 2.3 Torque Control
Motion Parameters for Torque Control

Monitor Parameters
Register
Name Unit Default Range
Address
IW00 RUN Status − − Bit settings
IW01 Out-of-range Parameter Number − − 0 to 65535
IL02 Warnings − − Bit settings
IL04 Alarms − − Bit settings
IW08 Motion Command Response Code − − 0 to 38
IW09 Motion Command Status − − Bit settings
IW0A Motion Subcommand Response Code − − 0 to 6
IW0B Motion Subcommand Status − − Bit settings
IW0C Position Management Status − − Bit settings
Machine Coordinate System Target Position
IL0E Reference units − −231 to 231−1
(TPOS)
Machine Coordinate System Calculated
IL10 Reference units − −231 to 231−1
Position (CPOS)
Machine Coordinate System Reference
IL12 Reference units − −231 to 231−1
Position (MPOS)
IL14 32-bit DPOS (DPOS) Reference units − −231 to 231−1
Machine Coordinate System Feedback Posi-
IL16 Reference units − −231 to 231−1
tion (APOS)
Machine Coordinate System Latch Position
IL18 Reference units − −231 to 231−1
(LPOS)
IL1A Position Deviation (PERR) Reference units − −231 to 231−1
IL1C Target Position Increment Monitor Reference units − −231 to 231−1
IL1E Number of POSMAX Turns Reference units − −231 to 231−1
IL20 Speed Reference Output Monitor Pulses/s − −231 to 231−1
IL28 M-III Servo Command Input Signal Monitor − − Bit settings
IL2A M-III Servo Command Status − − Bit settings
IW2C M-III Command Status − − Bit settings
−32768 to
IW2D SERVOPACK Alarm Code − −
32767
IW2F SERVOPACK User Monitor Information − − Bit settings
IL30 SERVOPACK User Monitor 2 − − −231 to 231−1
IL34 SERVOPACK User Monitor 4 − − −231 to 231−1
IW36 SERVOPACK Parameter Number − − 0 to 65535
IW37 Auxiliary SERVOPACK Parameter Number − − 0 to 65535
IL38 SERVOPACK Parameter Read Data − − −231 to 231−1
Auxiliary SERVOPACK Parameter Read
IL3A − − −231 to 231−1
Data
IW3F Motor Type − − 0 or 1
Depends on the set-
IL40 Feedback Speed ting of the Speed Unit − −231 to 231−1
Selection parameter.
Depends on the set-
IL42 Torque/Force Reference Monitor ting of the Torque Unit − −231 to 231−1
Selection parameter.
IL56 Fixed Parameter Monitor − − −231 to 231−1
IW5B Device Information Monitor Code − 0 0 to 65535
Continued on next page.

2-22
 2.3 Torque Control
Motion Parameters for Torque Control

Continued from previous page.

Register
Name Unit Default Range
Address
Power OFF Encoder Position (Lower 2
IL5E Pulses − −231 to 231−1
Words)
Power OFF Encoder Position (Upper 2
IL60 Pulses − −231 to 231−1
Words)
IL62 Power OFF Pulse Position (Lower 2 Words) Pulses − −231 to 231−1
IL64 Power OFF Pulse Position (Upper 2 Words) Pulses − −231 to 231−1

Motion Control
2

2-23
 2.3 Torque Control
Control Block Diagram for Torque Control

Control Block Diagram for Torque Control

The following diagram shows the relationships between the control block and motion parameters for
torque control.
Machine Controller

SVC or SVC32
OW00 Operation Command Settings
Operation

OW03 Function Settings 1

Settings

OW08 Motion Commands

OW09 Motion Command Control Flags
OW0A Motion Subcommands
References

OL0C Torque/Force Reference Setting

Torque

OL0E Speed Limit for Torque/Force Reference

Coordinates

OL48 Zero Point Position Offset in Machine Coordinate System

OL4A Working Coordinate System Offset
OL4C Number of POSMAX Turns Preset Data
Information
Operation

IW00 RUN Status

IL02 Warnings
IL04 Alarms

IW08 Motion Command Response Code

Information
Command

IW09 Motion Command Status

Motion

IW0A Motion Subcommand Response Code

IW0B Motion Subcommand Status
POSMAX processing Follow-up processing
IW0C Position Management Status
IL0E Machine Coordinate System Target Position (TPOS)
IL10 Machine Coordinate System Calculated Position (CPOS)
Information
Position

IL12 Machine Coordinate System Reference Position (MPOS)

IL14 32-bit DPOS (DPOS)
Machine Coordinate System Feedback Position (APOS) Electronic gear
IL16 POSMAX processing
IL18 Machine Coordinate System Latch Position (LPOS) POSMAX processing Electronic gear

Position Deviation (PERR) +

IL1A Electronic gear
IL1E Number of POSMAX Turns 

IW2C M-III Command Status

IW2D SERVOPACK Alarm Code
SERVOPACK
Information

IW2F SERVOPACK User Monitor Information

IL30 SERVOPACK User Monitor 2
IL34 SERVOPACK User Monitor 4

IL40 Feedback Speed

IL42 Torque/Force Reference Monitor

2-24
 2.3 Torque Control
Control Block Diagram for Torque Control

SERVOPACKs

Torque reference T-REF Current M

processing loop

Speed limit V-REF

processing

TRQ

Motion Control
Analog monitor value

2
MPOS
A
APOS Counter PG
A B
LPOS Counter
B
Latch
signal

2-25
 2.4 Speed Control
Motion Parameters for Speed Control

2.4 Speed Control

This section describes the motion parameters and control block diagrams for speed control.

Motion Parameters for Speed Control

There are three types of motion parameters:
• Fixed Parameters
These parameters are used to make settings related to the Servo system.
• Setting Parameters
These parameters are used to make detailed settings for control references.
• Monitor Parameters
These parameters are used to monitor the Servo system.
The following table lists the parameters used for speed control.

Fixed Parameters
Setting
No. Name Setting Unit Default
Range
0 Operation Mode Selection − 1 0 to 3
1 Function Selection Flags 1 − 0000 hex Bit settings
2 Function Selection Flags 2 − 0000 hex Bit settings
4 Reference Unit Selection − 0 0 to 4
5 Number of Digits Below Decimal Point − 3 0 to 5
Travel Distance per Machine Rotation (Rotary
Motor)
Reference units 10000 1 to 231−1
6
Linear Scale Pitch (Linear Motor) Reference units 10000 1 to 231−1
8 Servomotor Gear Ratio Term − 1 1 to 65535
9 Machine Gear Ratio Term − 1 1 to 65535
10 Infinite-length Axis Reset Position (POSMAX) Reference units 360000 1 to 231−1
12 Positive Software Limit Reference units 231−1 −231 to 231−1
14 Negative Software Limit Reference units −231 −231 to 231−1
29 Motor Type Selection − 0 0 or 1
30 Encoder Selection − 0 0 to 2
Rated Motor Speed (Rotary Motor) min-1 3000 1 to 100000
34
Rated Speed (Linear Motor) 0.1 m or 0.1 mm/s 3000 1 to 100000
Number of Pulses Per Motor Rotation (Rotary
Motor)
Pulses 65536 1 to 231−1
36
Number of Pulses Per Linear Scale Pitch (Linear Pulses/linear scale
Motor) pitch
65536 1 to 231−1

38 Maximum Number of Absolute Encoder Rotations rev 65534 0 to 231−1

Feedback Speed Movement Averaging Time Con-
42 ms 10 0 to 32
stant
44 User-specified SERVOPACK Parameter Number − 0 0 to 65535
45 User-specified SERVOPACK Parameter Size Words 1 1 to 2

2-26
 2.4 Speed Control
Motion Parameters for Speed Control

Setting Parameters
The parameters with gray backgrounds ( ) in the following table are not used for speed control.
Register
Name Setting Unit Default Setting Range
Address
OW00 Operation Command Settings − 0000 hex Bit settings
OW01 Mode Settings 1 − 0000 hex Bit settings
OW02 Mode Settings 2 − 0000 hex Bit settings
OW03 Function Settings 1 − 0011 hex Bit settings
OW04 Function Settings 2 − 0033 hex Bit settings
OW05 Function Settings 3 − 0000 hex Bit settings
M-III Vendor-specific Servo Com-
OW06 − 0000 hex Bit settings
mand Output Signal
OW08 Motion Commands − 0 0 to 38
OW09 Motion Command Control Flags − 0000 hex Bit settings
OW0A Motion Subcommands − 0 0 to 6
Depends on the setting of
Torque/Force Reference Setting or
OL0C
Torque Feedforward Compensation
the Torque Unit Selection 0 −231 to 231−1
parameter.
Speed Limit for Torque/Force Refer- −32768 to
OW0E 0.01% 15000
ence 32767
Depends on the setting of
OL10 Speed Reference Setting the Speed Unit Selection 3000 −231 to 231−1
parameter.
OW12 Speed Limit 0.01% 0 0 to 32767
Depends on the setting of
OL14 Torque/Force Limit the Torque Unit Selection 30000 −231 to 231−1
parameter.

Motion Control
Depends on the setting of
OL16 Second Speed Compensation the Speed Unit Selection 0 −231 to 231−1
parameter.
OW18 Override 0.01% 10000 0 to 32767
OL1C Position Reference Setting Reference units 0 −231 to 231−1
OL1E Positioning Completion Width Reference units 100 0 to 65535 2
OL20 NEAR Signal Output Width Reference units 0 0 to 65535
OL22 Excessive Deviation Detection Value Reference units 231−1 0 to 231−1
OW26 Positioning Completion Check Time ms 0 0 to 65535
OL28 Phase Compensation Setting Reference units 0 −231 to 231−1
Latch Zone Lower Limit Setting (for
OL2A
External Positioning)
Reference units −231 −231 to 231−1
Latch Zone Upper Limit Setting (for
OL2C
External Positioning)
Reference units 231−1 −231 to 231−1
OW2E Position Loop Gain 0.1/s 300 0 to 32767
OW2F Speed Loop Gain Hz 40 1 to 2000
OW30 Speed Feedforward Compensation 0.01% 0 0 to 32767
−32768 to
OW31 Speed Compensation 0.01% 0
32767
OW32 Position Loop Integral Time Constant ms 0 0 to 32767
OW34 Speed Loop Integral Time Constant 0.01 ms 2000 15 to 65535
Continued on next page.

2-27
 2.4 Speed Control
Motion Parameters for Speed Control

Continued from previous page.

Register
Name Setting Unit Default Setting Range
Address
Depends on the setting of
Linear Acceleration Rate/Acceleration the Acceleration/Decel-
OL36
Time Constant eration Rate Unit Selec-
0 0 to 231−1
tion parameter.
Depends on the setting of
Linear Deceleration Rate/Deceleration the Acceleration/Decel-
OL38
Time Constant eration Rate Unit Selec-
0 0 to 231−1
tion parameter.
OW3A Filter Time Constant 0.1 ms 0 0 to 65535
Depends on the setting of
Bias Speed for Indexed Deceleration/
OW3B the Speed Unit Selection 0 0 to 32767
Acceleration Filter
parameter.
OW3C Zero Point Return Method − 0 0 to 19
OW3D Zero Point Position Output Width Reference units 100 0 to 65535
Depends on the setting of
OL3E Approach Speed the Speed Unit Selection 1000 −231 to 231−1
parameter.
Depends on the setting of
OL40 Creep Speed the Speed Unit Selection 500 −231 to 231−1
parameter.
OL42 Zero Point Return Travel Distance Reference units 0 −231 to 231−1
OL44 STEP Travel Distance Reference units 1000 0 to 231−1
External Positioning Final Travel Dis-
OL46
tance
Reference units 0 −231 to 231−1
Zero Point Position Offset in Machine
OL48
Coordinate System
Reference units 0 −231 to 231−1

OL4A Working Coordinate System Offset Reference units 0 −231 to 231−1

Number of POSMAX Turns Preset
OL4C
Data
rev 0 −231 to 231−1
OW4E SERVOPACK User Monitor Setting − 0700 hex Bit settings
OW4F SERVOPACK Alarm Monitor Number − 0 0 to 10
OW50 SERVOPACK Parameter Number − 0 0 to 65535
OW51 SERVOPACK Parameter Size Words 1 1 or 2
OL52 SERVOPACK Parameter Set Value − 0 −231 to 231−1
Auxiliary SERVOPACK Parameter
OW54 − 0 0 to 65535
Number
Auxiliary SERVOPACK Parameter
OW55 Words 1 1 or 2
Size
Auxiliary SERVOPACK Parameter Set
OL56 − 0 −231 to 231−1
Value
0 to FFFFFFFF
OL58 Address Setting − 0
hex
OW5B Device Information Selection Code − 0 0 to 65535
OW5C Fixed Parameter Number − 0 0 to 65535
Power OFF Encoder Position (Lower 2
OL5E
Words)
Pulses 0 −231 to 231−1
Power OFF Encoder Position (Upper 2
OL60
Words)
Pulses 0 −231 to 231−1
Power OFF Pulse Position (Lower 2
OL62
Words)
Pulses 0 −231 to 231−1
Continued on next page.

2-28
 2.4 Speed Control
Motion Parameters for Speed Control

Continued from previous page.

Register
Name Setting Unit Default Setting Range
Address
Power OFF Pulse Position (Upper 2
OL64
Words)
Pulses 0 −231 to 231−1

OL66 Positive Software Limit Reference units 231−1 −231 to 231−1

OL68 Negative Software Limit Reference units −231 −231 to 231−1
User-specified SERVOPACK Parame-
OL70 − 0 −231 to 231−1
ter Set Value

Motion Control
2

2-29
 2.4 Speed Control
Motion Parameters for Speed Control

Monitor Parameters
Register
Name Unit Default Range
Address
IW00 RUN Status − − Bit settings
IW01 Out-of-range Parameter Number − − 0 to 65535
IL02 Warnings − − Bit settings
IL04 Alarms − − Bit settings
IW08 Motion Command Response Code − − 0 to 38
IW09 Motion Command Status − − Bit settings
IW0A Motion Subcommand Response Code − − 0 to 6
IW0B Motion Subcommand Status − − Bit settings
IW0C Position Management Status − − Bit settings
Machine Coordinate System Target Posi-
IL0E Reference units − −231 to 231−1
tion (TPOS)
Machine Coordinate System Calculated
IL10 Reference units − −231 to 231−1
Position (CPOS)
Machine Coordinate System Reference
IL12 Reference units − −231 to 231−1
Position (MPOS)
IL14 32-bit DPOS (DPOS) Reference units − −231 to 231−1
Machine Coordinate System Feedback
IL16 Reference units − −231 to 231−1
Position (APOS)
Machine Coordinate System Latch Posi-
IL18 Reference units − −231 to 231−1
tion (LPOS)
IL1A Position Deviation (PERR) Reference units − −231 to 231−1
IL1C Target Position Increment Monitor Reference units − −231 to 231−1
IL1E Number of POSMAX Turns Reference units − −231 to 231−1
IL20 Speed Reference Output Monitor Pulses/s − −231 to 231−1
M-III Servo Command Input Signal
IL28 − − Bit settings
Monitor
IL2A M-III Servo Command Status − − Bit settings
IW2C M-III Command Status − − Bit settings
−32768 to
IW2D SERVOPACK Alarm Code − −
32767
IW2F SERVOPACK User Monitor Information − − Bit settings
IL30 SERVOPACK User Monitor 2 − − −231 to 231−1
IL34 SERVOPACK User Monitor 4 − − −231 to 231−1
IW36 SERVOPACK Parameter Number − − 0 to 65535
Auxiliary SERVOPACK Parameter
IW37 − − 0 to 65535
Number
IL38 SERVOPACK Parameter Read Data − − −231 to 231−1
Auxiliary SERVOPACK Parameter Read
IL3A − − −231 to 231−1
Data
IW3F Motor Type − − 0 or 1
Depends on the setting
IL40 Feedback Speed of the Speed Unit − −231 to 231−1
Selection parameter.
Depends on the setting
IL42 Torque/Force Reference Monitor of the Torque Unit − −231 to 231−1
Selection parameter.
IL56 Fixed Parameter Monitor − − −231 to 231−1
Continued on next page.

2-30
 2.4 Speed Control
Motion Parameters for Speed Control

Continued from previous page.

Register
Name Unit Default Range
Address
IW5B Device Information Monitor Code − 0 0 to 65535
Power OFF Encoder Position (Lower 2
IL5E Pulses − −231 to 231−1
Words)
Power OFF Encoder Position (Upper 2
IL60 Pulses − −231 to 231−1
Words)
Power OFF Pulse Position (Lower 2
IL62 Pulses − −231 to 231−1
Words)
Power OFF Pulse Position (Upper 2
IL64 Pulses − −231 to 231−1
Words)

Motion Control
2

2-31
 2.4 Speed Control
Control Block Diagram for Speed Control

Control Block Diagram for Speed Control

The following diagram shows the relationships between the control block and motion parameters for
speed control.
Machine Controller

SVC or SVC32
OW00 Operation Command Settings
OW03 Function Settings 1
OW08 Motion Commands
Operation
Settings

OW09 Motion Command Control Flags

OW0A Motion Subcommands

OL10 Speed Reference Setting

OL0C Torque/Force Reference Setting
References

OL14 Torque/Force Limit

Speed

OW18 Override
Acceleration/
Coordinates Deceleration

OL36 Linear Acceleration Rate/Acceleration Time Constant

OL38 Linear Deceleration Rate/Deceleration Time Constant
Speed reference
unit conversion
OL48 Zero Point Position Offset in Machine Coordinate System
OL4A Working Coordinate System Offset
OL4C Number of POSMAX Turns Preset Data
Torque/force reference
unit conversion
Information
Motion Command Operation

IW00 RUN Status

IL02 Warnings
IL04 Alarms

IW08 Motion Command Response Code

Information

IW09 Motion Command Status

IW0A Motion Subcommand Response Code
IW0B Motion Subcommand Status
POSMAX processing Follow-up processing
IW0C Position Management Status
IL0E Machine Coordinate System Target Position (TPOS)
IL10 Machine Coordinate System Calculated Position (CPOS)
Information

IL12 Machine Coordinate System Reference Position (MPOS)

Position

IL14 32-bit DPOS (DPOS)

IL16 Machine Coordinate System Feedback Position (APOS) POSMAX processing Electronic gear

IL18 Machine Coordinate System Latch Position (LPOS) POSMAX processing Electronic gear
IL1A Position Deviation (PERR) +
Electronic gear
IL1E Number of POSMAX Turns 
IL20 Speed Reference Output Monitor

IW2C M-III Command Status

IW2D SERVOPACK Alarm Code
SERVOPACK

IW2F SERVOPACK User Monitor Information

Information

IL30 SERVOPACK User Monitor 2

IL34 SERVOPACK User Monitor 4

IL40 Feedback Speed

IL42 Torque/Force Reference Monitor

2-32
 2.4 Speed Control
Control Block Diagram for Speed Control

SERVOPACKs

Speed Loop Gain

Kv
Vref Current
Pn100 M
loop
(OW2F)
Speed Loop
Acceleration/ Integral Time
deceleration Constant
processing NTi

V-REF Pn101
(OW34)

Acceleration: OL36 Limiter is fixed.

Deceleration: OL38 There is no parameter.

Torque limit T-REF

operation

TRQ

Motion Control
Analog monitor value

2
MPOS
A
APOS Counter PG
A B
LPOS Counter
B
Latch
signal

2-33
 3
Definitions

This chapter describes the definitions for the SVC, SVC32, SVR,
and SVR32 Function Modules.

3.1 Module Configuration Definition . . . . . . . . . . . . . . 3-2

Displaying the Module Configuration Definition Tab Page . . . 3-2
Module Configuration Definition Tab Page Details . . . . . . . . . 3-3

3.2 MECHATROLINK Communications Definition . . . 3-7

Displaying the MECHATROLINK Communications
Definition Dialog Box . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-7
MECHATROLINK Communications Definition Dialog
Box Details . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-8
Environment for Using Σ-7-series SERVOPACKs . . . . . . . . 3-17
Detailed Information When the SVC or SVC32 Is Set as
a Slave . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-19

3.3 SVC Definition . . . . . . . . . . . . . . . . . . . . . . . . . . 3-22

Displaying the SVC Definition Tab Page and
Changing Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-22
Parameters Written during Self-configuration . . . . . . . . . . . . 3-26

3.4 Current Values and Set Values in SERVOPACK Parameters . . 3-27

Startup . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-27
Normal Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-28
When the SERVOPACK Tab Page Is Opened . . . . . . . . . . . 3-28
When SERVOPACK Parameters Are Saved . . . . . . . . . . . . 3-29
Saving Data to Flash Memory . . . . . . . . . . . . . . . . . . . . . . . 3-29
 3.1 Module Configuration Definition
Displaying the Module Configuration Definition Tab Page

3.1 Module Configuration Definition

The Module Configuration Definition Tab Page displays information on all of the Optional Modules that
are connected to the Machine Controller.

Displaying the Module Configuration Definition Tab Page

Use the following procedure to display the Module Configuration Definition Tab Page.
1. Connect the Machine Controller to the computer, and start the MPE720.
Refer to the following manual for details on how to start the MPE720.
MP2000/MP3000 Series Machine Controller Setup Manual (Manual No.: SIEP C880725 00)

2. Open the required project file.

3. Click the Module Configuration Icon on the Start Tab Page.

The following Module Configuration Definition Tab Page is displayed.

SVC32 setting cells

SVR32 setting cells

3-2
 3.1 Module Configuration Definition
Module Configuration Definition Tab Page Details

Module Configuration Definition Tab Page Details

The following table describes the items that are displayed in the Module Configuration Definition Tab
Page.

         

No. Item Display/Setting Item Setting Range/Settings Changing

Displays the Module that is set for
 Module Any Module Possible
the slot.
Displays the Function Modules and Any Function Module or
 Function Module/Slave Possible
slaves that are used by the Module. slave

Definitions
In Online Mode, displays the status Refer to the following sec-
of the Function Modules and the tion.
 Status Not possible
communications status of MECHA- Status Display Con-
TROLINK slave devices. tents (page 3-4)
Displays the first circuit number that 3
Circuit No./ Start Circuit No. 1 to 16 Possible
is assigned to the Function Module.
 Axis
Address Occupied Displays the number of circuits that
1 or 2 Possible
circuits are assigned to the Function Module.
The parameter is automati-
Displays the first and last register
 Motion Register cally set based on the cir- Not possible
addresses of the motion parameters.
cuit numbers.
Continued on next page.

3-3
 3.1 Module Configuration Definition
Module Configuration Definition Tab Page Details

Continued from previous page.

No. Item Display/Setting Item Setting Range/Settings Changing
Used to disable inputs or outputs by
 Disabled Selected or not selected Possible
selecting the check boxes.
Displays the range of registers that is
used as an I/O area by the Function Start: 0000 to 7FFF hex
Start - Module. For the SVC or SVC32, the End: 10000 to 17FFFF
 Possible
Register End first and last registers of the I/O
Modules that are connected to hex, 800 hex words max.*
(Input/Out-
put) MECHATROLINK are displayed.
Displays the number of words in the
 Size 1 to 1024 Possible
I/O area.
Displays the scan in which the I/O
 Scan service is performed for the I/O High/Low Possible
device.
You can enter up to 16
characters for a Function
 Comment Displays the user comment. Module. You can enter up Possible
to 32 characters for a
MECHATROLINK slave.
* Set I/O registers so that the same registers are not used by more than one Function Module.

1. Always save all settings to the flash memory after changing them.
2. When changing the settings, be careful not to set register addresses that overlap with other Function
Modules.
Note
3. Set I/O start and end registers even if an I/O Module is not connected to the MECHATROLINK net-
work.

Status Display Contents

The items displayed in the Status Column are listed below.

 Function Module Status

The following status is displayed for Function Modules.
Display Description
−−−− The Function Module is not defined.
Empty The Function Module is defined, but the Module is not mounted.
Driving The Function Module is operating normally.
Failure An error was detected in the Function Module.
× The mounted Module does not match the Module name definition.
Initializing The Module is mounted, but there is no Detailed Function Module Definition.
Driving Stop The CPU Unit is stopped (The user programs are stopped).

 Communications Status for the SVC or SVC32

The following status is displayed for the SVC or SVC32 Function Module.
Display Description
No alarm Communications are normal.
High speed scan transmis- A communications error has occurred.
sion error (The high-speed scan is set for the I/O scan for the station.)
Low speed scan transmis- A communications error has occurred.
sion error (The low-speed scan is set for the I/O scan for the station.)

3-4
 3.1 Module Configuration Definition
Module Configuration Definition Tab Page Details

 Hexadecimal Code
The hexadecimal code displayed in the Status Column is described below.
F E D C B A 9 8 7 6 5 4 3 2 1 0

Model code (01 hex: Inverter, 02 hex: Servo, 03 hex: I/O)

Reserved
High-speed scan communications error
Low-speed scan communications error
Reserved
Normal communications

Deleting Unused Function Modules

You can delete unused Function Modules to reduce the processing time of the Machine Controller.
Use the following procedure.
1. Right-click the cell of the Function Module to delete and select Device Select from the pop-up
menu.

Definitions
The Function Module Dialog Box is displayed.
3

3-5
 3.1 Module Configuration Definition
Module Configuration Definition Tab Page Details

2. Select UNDEFINED in the Function Module Dialog Box, and then click the OK Button.

The following message is displayed.

3. Click the OK Button.

The cell of the deleted Function Module changes to UNDEFINED.

This concludes the procedure.

3-6
 3.2 MECHATROLINK Communications Definition
Displaying the MECHATROLINK Communications Definition Dialog Box

3.2 MECHATROLINK Communications Definition

Assignment information on MECHATROLINK master/slave communications is displayed in the
MECHATROLINK Communications Definition Dialog Box.

Displaying the MECHATROLINK Communications Definition

Dialog Box
Double-click the SVC32 cell in the Module Configuration Definition Tab Page.

The MECHATROLINK Communications Definition Dialog Box is displayed.

Information If more than one Module is mounted, select the Module to be checked or set.

Definitions
3

3-7
 3.2 MECHATROLINK Communications Definition
MECHATROLINK Communications Definition Dialog Box Details

MECHATROLINK Communications Definition Dialog Box

Details
The MECHATROLINK Communications Definition Dialog Box has four tab pages: Transmission Param-
eters, Link Assignment, I/O Map, and Status. Click the tab to view each tab page.

Transmission Parameters Tab Page

This tab page displays the parameters that are required to use the MECHATROLINK communications
system.









 Displayed Items
The following table lists the items that are displayed on the Transmission Parameters Tab Page.
For the valid setting ranges and setting precautions, refer to the descriptions of the items on the following
pages.
No. Item Description Default
Set whether to use the SVC or SVC32 as a master or a
 Master/Slave Master
slave station.
 My station address Sets the local station address. 01 hex
 Communications Cycle Sets the communications cycle. 250 μs
Enabled message commu-
 Enables or disables message communications. Enable
nication
Sets the maximum number of retries to execute within
 Number of retry to slaves 1
one communications cycle.
 Number of connection Sets the number of connected slave stations. 8
Slave synchronous func-
 Enables or disables slave CPU synchronization. Disable
tion
 Message Box Displays precautions on the high-speed scan time setting. −

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 3.2 MECHATROLINK Communications Definition
MECHATROLINK Communications Definition Dialog Box Details

 Item Details
This section provides details on the items that are displayed on the Transmission Parameters Tab Page.

Always save all settings to the flash memory after changing them.
Note

 Master/Slave
Set whether to use the SVC or SVC32 as a master or a slave station.
If you set the SVC or SVC32 as a slave station, refer to the following section for details on the device defini-
tion information and I/O data.
Detailed Information When the SVC or SVC32 Is Set as a Slave (page 3-19)

1. If you set the Machine Controller as a slave station, always select Slave in the Master/Slave Box
on the Transmission Parameters Tab Page. You cannot use self configuration to change the setting
from Master (default) to Slave.
Note
2. With MECHATROLINK-III, you cannot have more than one Machine Controller on the same net-
work set as master stations. If you connect a Machine Controller (2) that has not been set as a slave
station to a Machine Controller (1) that is set as a master station, you will not be able to perform the
following operations.
• Self configuration of Machine Controller (2)
• Writing the system configuration of a project file in which the SVC or SVC32 is set as a master
station from the MPE720 to Machine Controller (2)
To perform the above operations, turn OFF the power supply to Machine Controller (1) or discon-
nect the MECHATROLINK-III Cable from between Machine Controller (1) and Machine Controller
(2).
Machine Controller (1) (master station)

Definitions
←MECHATROLINK-III Cable

Machine Controller (2)

 My Station Address
Set the local station address.
• Settings:
Master: Always 01 hex.
Slave: Set the address to between 03 and EF hex.
 Communications Cycle
Set the communications cycle. This setting is valid for the master station only.
• Settings: 125 μs, 250 μs, 500 μs, 1 ms, 1.5 ms, 2 ms, or 3 ms
 Enabled Message Communication
Enable or disable message communications. This setting is valid for the master station only.
This check box is linked to the retry count. If the retry count is 0, the retry count automatically changes to 1
when you select this check box.
If a value higher than 1 is set for the retry count, this check box is automatically selected.

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 3.2 MECHATROLINK Communications Definition
MECHATROLINK Communications Definition Dialog Box Details

 Number of Retry to Slaves

Set the maximum number of retries to execute within one communications cycle. This setting is valid for the
master station only.
• Setting Ranges
Communications Number of Slave
Setting Range
Cycle Stations
125 μs 1 to 4 0 to (5 - Number of slave stations)
250 μs 1 to 8 0 to (9 - Number of slave stations)
500 μs 1 to 14 0 to (15 - Number of slave stations)
1 ms 1 to 29 0 to (30 - Number of slave stations)
1.5 ms 1 to 42 0 to (43 - Number of slave stations)
2 ms 1 to 42 0 to (43 - Number of slave stations)
3 ms 1 to 42 0 to (43 - Number of slave stations)
 Number of Connection
Set the number of connected slave stations. This setting is valid for the master station only.
• Setting Ranges
Number of Connected Stations
Communications
Cycle Cascade
Star Connections
Connections
125 μs 1 to 4 1 to 3
250 μs 1 to 8 1 to 7
500 μs 1 to 14 1 to 12
1 ms 1 to 29 1 to 21
1.5 ms 1 to 42 1 to 27
2 ms 1 to 42 1 to 32
3 ms 1 to 42 1 to 38

If the SigmaWin+ is connected through a Machine Controller, the SigmaWin+ may not be usable if
there are too many SERVOPACK stations connected. If this occurs, either connect the SigmaWin+ to
Important the SERVOPACK (CN7) directly, or lengthen the communications cycle.

 Slave Synchronous Function

Enable or disable slave CPU synchronization. This setting is valid for slave stations only.
• Settings: Enable or Disable
 Message Box
This box displays precautions on the high-speed scan time setting.
• Displayed Messages
Communications
Message
Cycle
125 μs Set the high-speed scan time as an integer that is a multiple of 125 μs.
250 μs Set the high-speed scan time as an integer that is a multiple of 250 μs or a factor of 1 integer.
500 μs Set the high-speed scan time as an integer that is a multiple of 500 μs or a factor of 1 integer.
1 ms Set the high-speed scan time as an integer that is a multiple of 1 ms or a factor of 1 integer.
1.5 ms Set the high-speed scan time as an integer that is a multiple of 1.5 ms or a factor of 1 integer.
2 ms Set the high-speed scan time as an integer that is a multiple of 2 ms or a factor of 1 integer.
3 ms Set the high-speed scan time as an integer that is a multiple of 3 ms or a factor of 1 integer.

1. This setting is valid for the master station only.

2. This box is read-only.
Note

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 3.2 MECHATROLINK Communications Definition
MECHATROLINK Communications Definition Dialog Box Details

Link Assignment Tab Page

The Link Assignment Tab Page displays the assignment settings for all slave devices that were detected
during self-configuration (MECHATROLINK-connected devices, such as SERVOPACKs or distributed I/
O).

 Displayed Items
The following table lists the items that are displayed on the Link Assignment Tab Page.
For the valid setting ranges and setting precautions, refer to the descriptions of the items on the following
pages.
No. Item Description
 ST # Displays the station number.
 ADR Sets the station address of the slave station.
Sets the individual extended addresses when multi-station modules

Definitions
 ExADR
(multi-slaves) are grouped together as a single node.
 VENDOR Sets the vendor name of the device.
 DEVICE Sets the slave model.
 PROFILE Sets the profile to use.
3
 BYTE Sets the number of transmission bytes.
 INPUT Sets the first register address of the input area.
 OUTPUT Sets the first register address of the output area.
 D Enables or disables the I/O registers.
11 SIZE Sets the input or output size in words.
12 SCAN Sets the scan in which the input or output is performed.
13 Comment Used to enter a comment of up to 32 characters.

3-11
 3.2 MECHATROLINK Communications Definition
MECHATROLINK Communications Definition Dialog Box Details

 Item Details
This section provides details on the items that are displayed on the Link Assignment Parameters Tab Page.

Always save all settings to the flash memory after changing them.
Note

 ST #
This is the station number.
The number of rows that is displayed corresponds to the number of slave stations that is set on the Trans-
mission Parameters Tab Page.
This number is automatically assigned.

 ADR
Set the station address of the slave station.
When the local station is set as a slave station, the address specified on the Transmission Parameters Tab
Page is displayed.
• Setting range: 03 to EF hex

 ExADR
Set the individual extended addresses when multi-station modules (multi-slaves) are grouped together as a
single node.
This box is displayed when the Display Expansionist Address Button is clicked, and is hidden when
the Omit Expansionist Address Button is clicked.
• Setting range: 03 to EF hex
• Setting the Extended Address
Extended addresses are set in succession from extended address 00 hex.
The following figure shows an example of how to set extended addresses.

Set the extended address

in order starting from 00
hex: 01 hex, 02 hex, etc.

 VENDOR
Set the vendor name of the device.
• Settings: Yaskawa Electric Co., **** Vendor

3-12
 3.2 MECHATROLINK Communications Definition
MECHATROLINK Communications Definition Dialog Box Details

 DEVICE
Set the slave model.
• Link Assignment Model Details
The relationship between the model displayed under DEVICE and its corresponding profile is shown
below.
If you manually assign a link, be sure that the actual device connected to the SVC Module is the same as
the one that is displayed under DEVICE on the Link Assignment Tab Page.
Communications Specifications
Device Minimum Maximum
Corresponding Number of Trans-
Communications Communications
Profile mission Bytes
Cycle Cycle
SGDV-2 Standard Servo 48 125 μs 4 ms
SGD7S-20 Standard Servo 48 125 μs 4 ms
SGD7W-20 Standard Servo 48 125 μs 4 ms
1000Series INVERTER Standard Inverter 32, 64 250 μs 8 ms
JAPMC-MC2320-E Standard I/O 16, 32, 48, 64 250 μs 32 ms
SVC or SVC32 Standard I/O 16, 32, 48, 64 125 μs 32 ms
JEPMC-MTD2310-E Standard I/O 16 250 μs 8 ms
JEPMC-MTA2900-E Standard I/O 32 125 μs 8 ms
JEPMC-MTA2910-E Standard I/O 16 125 μs 8 ms
JEPMC-MTP2900-E Standard I/O 64 125 μs 8 ms
JEPMC-MTP2910-E Standard I/O 64 125 μs 8 ms
Depends on the Depends on the
Standard Servo 48
actual device. actual device.
WildCard Device
Depends on the Depends on the
Standard I/O 16, 32, 48, 64
actual device. actual device.

Read the following sections before you select SGD7S-20 or SGD7W-20.

Environment for Using Σ-7-series SERVOPACKs (page 3-17)

Definitions
Important 11.8 Precautions When Using Σ-7-series SERVOPACKs (page 11-39)

If you select the SVC or SVC32, make sure that the following two conditions are met. 3
• The CPU Unit/CPU Module of the Machine Controller connected as a slave is version 1.06 or later.
Note • MPE720 is version 7.21 or later.

 PROFILE
Set the profile to use.
• Settings: Depends on the device.

 BYTE
Set the number of transmission bytes.
• Settings: Depends on the profile.

 INPUT
Set the first register address of the input area.
This setting is disabled if the profile is set to Standard Servo.
• Setting range: The range of the Module’s I/O registers

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 3.2 MECHATROLINK Communications Definition
MECHATROLINK Communications Definition Dialog Box Details

 OUTPUT
Set the first register address of the output area.
This setting is disabled if the profile is set to Standard Servo.
• Setting range: The range of the Module’s I/O registers

D
Enable or disable the I/O registers.
• Settings: Enable or Disable
: Enabled
: Disabled

 SIZE
Set the input and output sizes in words.
These settings are disabled if the profile is set to Standard Servo.
• Setting range: 0 to 32

 SCAN
Set the scans in which the inputs and outputs are performed.
This setting is always set to High if the profile is set to Standard Servo.
• Settings: High or Low

 Station Name (comment)

Enter a comment of up to 32 characters if required.

 Deleting Station Assignments

You can delete the items on the Link Assignment Tab Page for a station.
Click any cell in the row for the station to delete, and then select Edit − Assignment Delete from the
menu bar.

Deleted station assignments cannot be restored.

Note

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 3.2 MECHATROLINK Communications Definition
MECHATROLINK Communications Definition Dialog Box Details

I/O Map Tab Page

This tab page displays the assignments to I/O registers.

 Display Items
HI: High-speed scan input
HO: High-speed scan output
LI: Low-speed scan input
LO: Low-speed scan output

The I/O Map Tab Page is for reference only. Do not change any of the displayed settings.
Note

Definitions
Status Tab Page
This tab page displays the MECHATROLINK communications status. The displayed settings cannot be
3
changed.

Information The items displayed on the Status Tab Page are the same as those on the Link Assignment Tab
Page except for STS.

3-15
 3.2 MECHATROLINK Communications Definition
MECHATROLINK Communications Definition Dialog Box Details

 STS
In Online Mode, MECHATROLINK communications status information is displayed in hexadecimal.

Information In Offline Mode, nothing is displayed.

The meaning of each bit is given below.

F E DC B A 9 8 7 6 5 4 3 2 1 0

Model code (01 hex: Inverter, 02 hex: Servo, 03 hex: I/O)

Reserved

High-speed scan communications error

Low-speed scan communications error

Reserved

Normal communications

3-16
 3.2 MECHATROLINK Communications Definition
Environment for Using Σ-7-series SERVOPACKs

Environment for Using Σ-7-series SERVOPACKs

Supported Versions
Details on SERVOPACKs: Σ-7-series SERVOPACKs with MECHATROLINK-III Communications Ref-
erences
SERVOPACK models: SGD7S-20 SGD7W-20

 Using a Rotary Servomotor

Machine Controller Model Number Version
MP3200/CPU-201 JEPMC-CP3201-E Version 1.12 or later
MP3200/CPU-202 JEPMC-CP3202-E Version 1.12 or later
MP3300/CPU-301 for 16 axes JAPMC-CP3301-1-E Version 1.10 or later
MP3300/CPU-301 for 32 axes JAPMC-CP3301-2-E Version 1.12 or later

Engineering Tool Model Number Version

MPE720 Version 7 CPMC-MPE780 Version 7.28 or later

 Using a Linear Servomotor

Machine Controller Model Number Version
MP3200/CPU-201 JEPMC-CP3201-E Version 1.14 or later
MP3200/CPU-202 JEPMC-CP3202-E Version 1.14 or later
MP3300/CPU-301 for 16 axes JAPMC-CP3301-1-E Version 1.14 or later
MP3300/CPU-301 for 32 axes JAPMC-CP3301-2-E Version 1.14 or later

Engineering Tool Model Number Version

MPE720 Version 7 CPMC-MPE780 Version 7.30 or later

Definitions
3

3-17
 3.2 MECHATROLINK Communications Definition
Environment for Using Σ-7-series SERVOPACKs

Allocations
Click the Link Assignment tab in the MECHATROLINK Communications Definition Dialog Box, make
the following slave device settings for the desired station number (ST#), and save the settings to flash
memory.
SIZE
VENDOR DEVICE PROFILE BYTE SCAN
INPUT OUTPUT
Yaskawa Electric SGD7S-20 Standard 48 No setting No setting
High (fixed)
co. SGD7W-20 Servo (fixed) is required. is required.
Note: 1. Assignment Mistakes
If you make a mistake in the assignments (for example, set SGD7S-20 when an SGD7W-
20 is connected), a Detected Servo Driver Type Error alarm (monitor parameter IL04 bit 1D)
will occur. Synchronous communications will not start and the Motion Controller Operation Ready bit (monitor
parameter IW00 bit 0) will be 0 (Operation not ready).
2. Using a Linear Servomotor
If you make the above assignments and save the settings to flash memory when a Linear Servomotor is con-
nected to an SGD7S-20 or SGD7W-20 and you are using a version of MPE720 that does
not support Linear Servomotors, a Connected Encoder Type Error alarm (monitor parameter IL04 bit 1F)
will occur. To use a Linear Servomotor, set the assignment to WildCard Device (Linear).

If you are using an SGD7S or SGD7W, confirm the setting methods for fixed parameters and the pre-
cautions. Refer to the following section for details.
Important 11.8 Precautions When Using Σ-7-series SERVOPACKs

3-18
 3.2 MECHATROLINK Communications Definition
Detailed Information When the SVC or SVC32 Is Set as a Slave

Detailed Information When the SVC or SVC32 Is Set as a

Slave
This section describes the device definition information and I/O data when the SVC or SVC32 is set as a
slave station.

Device Definition Information

The following table gives the device definition information when the Machine Controller is set as a slave.
Item Specification
Vendor ID Code 0
Device Code 02000002 hex
Device Definition File Version 1000 hex
Serial Number Not defined
Profile Type 1 (Primary) 30 hex
Profile Version 1 (Primary) 0100 hex
Profile Type 2 Not defined
Profile Version 2 Not defined
Profile Type 3 0
Profile Version 3 0
Minimum Communications Cycle 125 μs
Maximum Communications Cycle 32 ms
Communications Cycle Increment (Granularity) 03 hex
Maximum Communications Cycle 32 ms
Number of Transmission Bytes 16, 32, 48, or 64
Supported Communications Modes Event-driven communications and cyclic communications
Supported Commands
List of Main Commands NOP, ID_RD, CONFIG, ALM_RD, ALM_CLR, SYNC_SET,

Definitions
CONNECT, DISCONNECT, DATA_RWA, and DATA_RWS
Main Device Name SVC or SVC32

3-19
 3.2 MECHATROLINK Communications Definition
Detailed Information When the SVC or SVC32 Is Set as a Slave

I/O Data
The relationship between the I/O data and the data on the MECHATROLINK transmission line when I/O
processing is performed normally is shown below.

 Input Register Configuration

Input Registers
MECHATROLINK
for Slave
Transmission Path
(SVC or SVC32)
7 6 5 4 3 2 1 0 7 6 5 4 3 2 1 0
00 hex CMD IW+0
Reserved for system.
01 hex WDT
02 hex IW+1
CMD_CTRL Command Status
03 hex
04 hex Data 1 Low IW+2 Data 1 Low
05 hex High High
06 hex Data 2 Low IW+3 Data 2 Low
07 hex High High
Master 08 hex Data 3 Low IW+4 Data 3 Low
09 hex High High
0A hex Data 4 Low IW+5 Data 4 Low
0B hex High High
0C hex Data 5 Low IW+6 Data 5 Low
0D hex High High
0E hex Data 6 Low IW+7 Data 6 Low
0F hex High High
 
 
 

 Command Status
Refer to the following section for details on the command status.
Command Status (page 12-39)

3-20
 3.2 MECHATROLINK Communications Definition
Detailed Information When the SVC or SVC32 Is Set as a Slave

 Output Register Configuration

Output Registers
MECHATROLINK
for Slave
Transmission Path
(SVC or SVC32)
7 6 5 4 3 2 1 0 7 6 5 4 3 2 1 0
00 hex RCMD OW+0
Reserved for system.
01 hex RWDT
02 hex OW+1
CMD_STAT Command Status
03 hex
04 hex Data 1 Low OW+2 Data 1 Low
05 hex High High
06 hex Data 2 Low OW+3 Data 2 Low
07 hex High High
Master 08 hex Data 3 Low OW+4 Data 3 Low
09 hex High High
0A hex Data 4 Low OW+5 Data 4 Low
0B hex High High
0C hex Data 5 Low OW+6 Data 5 Low
0D hex High High
0E hex Data 6 Low OW+7 Data 6 Low
0F hex High High
 
 
 

 Command Control
This section describes the details of the Command Control register.
Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
Reserved SLVSC

Definitions
Bit 15 Bit 14 Bit 13 Bit 12 Bit 11 Bit 10 Bit 9 Bit 8
Reserved

 SLVSC 3
• Definition
1: Restarting prohibited.
0: Restarting allowed.
• Description
Specify whether slave CPU synchronization is automatically restarted when the slave CPU changes
from synchronized to asynchronized status.
If SLVSC is set to 1, slave CPU synchronization will not be restarted when the slave CPU changes from
synchronized to asynchronized status and operation will be continued in asynchronized status
If SLVSC is set to 0, slave CPU synchronization is automatically restarted when the slave CPU changes
from synchronized to asynchronized status.
Refer to the following section for details on slave CPU synchronization.
11.6 Slave CPU Synchronization (page 11-20)

3-21
 3.3 SVC Definition
Displaying the SVC Definition Tab Page and Changing Settings

3.3 SVC Definition

The SVC Definition Tab Page displays the motion parameters (fixed parameters, setting parameters, and
monitor parameters) to control motion axes, such as the SERVOPACKs, Inverters, and Stepping Motors.
These motion parameters are set when self-configuration is performed. You can check and change these
set values if necessary as described below.
Refer to the following chapter for details on motion parameters.
Chapter 4 Motion Parameters

Displaying the SVC Definition Tab Page and Changing Settings

Use the following procedure to display the SVC Definition Tab Page and change the settings.
1. Select View − Work Space from the menu bar.

The Work Space Pane is displayed on the left side of the window.

2. Click the Expand [+] Button beside each item in the Work Space Pane to display motion parame-
ters as shown below.

3-22
 3.3 SVC Definition
Displaying the SVC Definition Tab Page and Changing Settings

3. Double-click the motion parameter to set or monitor.

The Display Axis Selection Dialog Box is displayed.

4. Select the axis to set or monitor, and then click the OK Button.

Definitions
3
The tab page for the selected motion parameter is displayed.

3-23
 3.3 SVC Definition
Displaying the SVC Definition Tab Page and Changing Settings

5. Check or change the set values of the motion parameters.

To change which motion parameters are displayed, double-click the required motion parameters in the
Work Space Pane.
The following figures show examples of the tab pages for each group of motion parameters.
• Fixed Parameter Tab Page

• Setting/Monitor Parameter Tab Page

Setting and monitor parameters are displayed on the same tab page.
Click the ↑↓ Button to change the top and bottom displays.

3-24
 3.3 SVC Definition
Displaying the SVC Definition Tab Page and Changing Settings

• Servo/Servo Monitor Parameter Tab Page

SERVOPACK parameters and Servo monitor information are displayed on the same tab page.
Click the ↑↓ Button to change the top and bottom displays.

Information • Some parameters will change if the axis is changed in the Display Axis Selection Dialog Box.
• Refer to the SERVOPACK user’s manual for details on the SERVOPACK parameters.

Definitions
3

3-25
 3.3 SVC Definition
Parameters Written during Self-configuration

Parameters Written during Self-configuration

The fixed values in the Machine Controller are written to the SERVOPACK EEPROM or RAM during
self-configuration as shown below. The SERVOPACK parameters are also written to the Machine Con-
troller’s setting parameters.

SERVOPACK parameters and Machine Controller parameters may be overwritten when self-
configuration is executed.
Note

Writing from the Machine Controller to the SERVOPACK

The following settings are written regardless of the setting of bit A (SERVOPACK Parameter Auto-Write)
in fixed parameter No. 1.
<Machine Controller> <SERVOPACK>
Fixed Values Servo Common Parameters
Name Set Value No. Description
P-OT Signal Mapping Disable → 25. Bit 0 Limit Setting, P-OT
N-OT Signal Mapping Disable → 25. Bit 1 Limit Setting, N-OT
Positive Servo Software Limit Disable → 25. Bit 4 Limit Setting, P-SOT
Negative Servo Software Limit Disable → 25. Bit 5 Limit Setting, N-SOT
Electronic Gear Ratio
Servo Electronic Gear Ratio Numerator 1 → 21
Numerator
Electronic Gear Ratio
Servo Electronic Gear Ratio Denominator 1 → 22
Denominator
Fixed Monitor Selection 1 → 87 Fixed Monitor Selection 1
Fixed Monitor Selection 0 → 88 Fixed Monitor Selection 2

Information The above settings are not written for axes that are already defined.

Writing from the SERVOPACK to the Machine Controller

The following settings are written when bit A (SERVOPACK Parameter Auto-Write) in fixed parameter
No. 1 is set to 0 (Enable).
<Machine Controller> <SERVOPACK>
Setting Parameters Servo Common Parameters
Register
Name No. Description
Address
Position Loop Gain OW2E ← 63 Position Loop Gain
Speed Loop Gain OW2F ← 61 Speed Loop Gain
Speed Feedforward Compensa-
OW30 ← 64 Feedforward Compensation
tion
Position Loop Integral Time Con-
OW32 ← 65 Position Loop Integration Constant
stant
Speed Loop Integral Time Con-
OW34 ← 62 Speed Loop Integration Constant
stant
Filter Time Constant OW3A ← 82 Average Moving Time

3-26
 3.4 Current Values and Set Values in SERVOPACK Parameters
Startup

3.4 Current Values and Set Values in SERVOPACK Parameters

In a MECHATROLINK system, SERVOPACK parameters can be read or written directly from the
Machine Controller.
11.7 Automatically Updated Parameters (page 11-33)
This means that parameters are saved in the memory areas of both the Machine Controller and the SER-
VOPACK. Therefore, it is necessary to consider the relationship between the settings in both memory
areas.
This section describes the flow of data for the SERVOPACK parameters in the SVC definition between
the Machine Controller and the SERVOPACK under different conditions.

Startup
The flow of data for the SERVOPACK parameters when the power supply is turned ON is shown below.

1. The parameter data in the SERVOPACK’s EEPROM*1 is copied to RAM.

2. The parameter data for all axes in the Machine Controller’s flash memory *1 is copied to
SDRAM*2.

3. Some gain settings are written from the Machine Controller to the SERVOPACK RAM*1.

MECHATROLINK
Transferred. Transferred.

MPE720
Control
System
SRAM software
software
Settings

Definitions
*3 *3
Flash EEP
Hard disk drive memory SDRAM RAM
-ROM
of the PC
SERVOPACK parameters for Parameters
all axes

Machine Controller SERVOPACK SERVOPACK

3
*1. EEPROM and flash memory: Memory that retains data even when the power supply is turned OFF.
*2. RAM, SRAM, and SDRAM: Memory that loses data when the power supply is turned OFF.
*3. indicates the data that is written.

3-27
 3.4 Current Values and Set Values in SERVOPACK Parameters
Normal Operation

Normal Operation
The flow of data for the SERVOPACK parameters under normal operation is shown below.
1. The SERVOPACK’s control software operates according to the parameters that are stored in
RAM.

2. Some setting parameters and commands of the Machine Controller temporarily change SERVO-
PACK parameters. This also changes the contents of the RAM in the SERVOPACK.
Chapter 4 Motion Parameters

MECHATROLINK
Transferred. Transferred.
Temporarily changed.

MPE720
System Control
SRAM software software

Settings
*
Flash EEP
memory SDRAM RAM
-ROM
Hard disk drive
of the PC SERVOPACK Parameters
parameters for
all axes

Machine Controller SERVOPACK SERVOPACK

* indicates the data that is written.

Information A Digital Operator that is connected to the SERVOPACK will display the parameters that are
stored in the SERVOPACK’s RAM. Press the DATA/ENTER Key to write the parameters to the
EEPROM.

When the SERVOPACK Tab Page Is Opened

The flow of data for the SERVOPACK parameters when the SERVOPACK Tab Page is opened is shown
below.
Refer to the following section for the procedure to display the SERVOPACK Tab Page.
3.3 SVC Definition (page 3-22)
The MPE720 loads the parameter values in the SERVOPACK’s RAM and displays them on the SERVO-
PACK Tab Page.

MECHATROLINK
Transferred. Transferred.

MPE720
(Online)
System Control
SRAM software software

Flash EEP
memory SDRAM RAM
-ROM
SERVOPACK Parameters
parameters for
all axes
Machine Controller SERVOPACK SERVOPACK

3-28
 3.4 Current Values and Set Values in SERVOPACK Parameters
When SERVOPACK Parameters Are Saved

When SERVOPACK Parameters Are Saved

The flow of data for the SERVOPACK parameters when parameters are saved from the SERVOPACK Tab
Page is shown below.
Refer to the following section for the procedure to display the SERVOPACK Tab Page.
3.3 SVC Definition (page 3-22)
The MPE720 writes all of the parameters that are displayed on the SERVOPACK Tab Page for the rele-
vant axes to the following locations.
• Hard disk drive of the PC
• SDRAM in the Machine Controller
• RAM and EEPROM in the SERVOPACK

MECHATROLINK
Transferred. Transferred.

MPE720
(Online) System Control
SRAM software software

* * *
Flash EEP
memory SDRAM RAM
-ROM
SERVOPACK Parameters
parameters for
all axes
Machine Controller SERVOPACK SERVOPACK

* indicates the data that is written.

Saving Data to Flash Memory

Definitions
When data is saved to flash memory, the Machine Controller writes the settings of the parameters that are
stored in SDRAM to flash memory.

3
MECHATROLINK
Transferred. Transferred.

MPE720
(Online) System Control
SRAM software software

*
Flash EEP
memory SDRAM RAM
-ROM
SERVOPACK parameters Parameters
for all axes

Machine Controller SERVOPACK SERVOPACK

* indicates the data that is written.

Note: Always save all of the SERVOPACK parameter settings to the flash memory after any changes are made.

3-29
 4
Motion Parameters

This chapter describes the motion parameters of the Machine

Controller.

4.1 Motion Parameter Register Addresses . . . . . . . . 4-2

4.2 Motion Parameter Tab Pages . . . . . . . . . . . . . . . 4-6

4.3 Motion Parameter Tables . . . . . . . . . . . . . . . . . . . 4-8

Fixed Parameter Table . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-8
Setting Parameter Table . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-11
Monitor Parameter Table . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-21

4.4 Motion Parameter Details . . . . . . . . . . . . . . . . . 4-30

Fixed Parameter Details . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-30
Setting Parameter Details . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-42
Monitor Parameter Details . . . . . . . . . . . . . . . . . . . . . . . . . . 4-79
 4.1 Motion Parameter Register Addresses

4.1 Motion Parameter Register Addresses

The first addresses of the motion parameter registers (I and O registers) are determined by the circuit num-
ber and the axis number.
Use the following formula to obtain the addresses of the first registers for the motion parameters for each
axis.
Circuit
First Address of Motion Parameter Registers
Number
1 to 16 I (or O) word 8000 + (Circuit number − 1) × 800 hex + (Axis number − 1) × 80 hex

If two circuits are assigned, the SVC or SVC32 circuit number will never be even.
Note

The following tables list the motion parameter register addresses.

 When Two Circuits Are Assigned (Default)

 Axis Numbers 1 to 8
Circuit Axis Axis Axis Axis Axis Axis Axis Axis
Number Number 1 Number 2 Number 3 Number 4 Number 5 Number 6 Number 7 Number 8
8000 to 8080 to 8100 to 8180 to 8200 to 8280 to 8300 to 8380 to
1
807F 80FF 817F 81FF 827F 82FF 837F 83FF
9000 to 9080 to 9100 to 9180 to 9200 to 9280 to 9300 to 9380 to
3
907F 90FF 917F 91FF 927F 92FF 937F 93FF
A000 to A080 to A100 to A180 to A200 to A280 to A300 to A380 to
5
A07F A0FF A17F A1FF A27F A2FF A37F A3FF
B000 to B080 to B100 to B180 to B200 to B280 to B300 to B380 to
7
B07F B0FF B17F B1FF B27F B2FF B37F B3FF
C000 to C080 to C100 to C180 to C200 to C280 to C300 to C380 to
9
C07F C0FF C17F C1FF C27F C2FF C37F C3FF
D000 to D080 to D100 to D180 to D200 to D280 to D300 to D380 to
11
D07F D0FF D17F D1FF D27F D2FF D37F D3FF
E000 to E080 to E100 to E180 to E200 to E280 to E300 to E380 to
13
E07F E0FF E17F E1FF E27F E2FF E37F E3FF
F000 to F080 to F100 to F180 to F200 to F280 to F300 to F380 to
15
F07F F0FF F17F F1FF F27F F2FF F37F F3FF

4-2
 4.1 Motion Parameter Register Addresses

 Axis Numbers 9 to 16
Axis Axis Axis Axis Axis Axis Axis Axis
Circuit
Number Number Number Number Number Number Number Number
Number
9 10 11 12 13 14 15 16
8400 to 8480 to 8500 to 8580 to 8600 to 8680 to 8700 to 8780 to
1
847F 84FF 857F 85FF 867F 86FF 877F 87FF
9400 to 9480 to 9500 to 9580 to 9600 to 9680 to 9700 to 9780 to
3
947F 94FF 957F 95FF 967F 96FF 977F 97FF
A400 to A480 to A500 to A580 to A600 to A680 to A700 to A780 to
5
A47F A4FF A57F A5FF A67F A6FF A77F A7FF
B400 to B480 to B500 to B580 to B600 to B680 to B700 to B780 to
7
B47F B4FF B57F B5FF B67F B6FF B77F B7FF
C400 to C480 to C500 to C580 to C600 to C680 to C700 to C780 to
9
C47F C4FF C57F C5FF C67F C6FF C77F C7FF
D400 to D480 to D500 to D580 to D600 to D680 to D700 to D780 to
11
D47F D4FF D57F D5FF D67F D6FF D77F D7FF
E400 to E480 to E500 to E580 to E600 to E680 to E700 to E780 to
13
E47F E4FF E57F E5FF E67F E6FF E77F E7FF
F400 to F480 to F500 to F580 to F600 to F680 to F700 to F780 to
15
F47F F4FF F57F F5FF F67F F6FF F77F F7FF

 Axis Numbers 17 to 24
Axis Axis Axis Axis Axis Axis Axis Axis
Circuit
Number Number Number Number Number Number Number Number
Number
17 18 19 20 21 22 23 24
8800 to 8880 to 8900 to 8980 to 8A00 to 8A80 to 8B00 to 8B80 to
1
887F 88FF 897F 89FF 8A7F 8AFF 8B7F 8BFF
9800 to 9880 to 9900 to 9980 to 9A00 to 9A80 to 9B00 to 9B80 to
3
987F 98FF 997F 99FF 9A7F 9AFF 9B7F 9BFF
A800 to A880 to A900 to A980 to AA00 to AA80 to AB00 to AB80 to
5

Motion Parameters
A87F A8FF A97F A9FF AA7F AAFF AB7F ABFF
B800 to B880 to B900 to B980 to BA00 to BA80 to BB00 to BB80 to
7
B87F B8FF B97F B9FF BA7F BAFF BB7F BBFF
C800 to C880 to C900 to C980 to CA00 to CA80 to CB00 to CB80 to
9
C87F C8FF C97F C9FF CA7F CAFF CB7F CBFF
D800 to D880 to D900 to D980 to DA00 to DA80 to DB00 to DB80 to
11
D87F D8FF D97F D9FF DA7F DAFF DB7F DBFF

13
E800 to E880 to E900 to E980 to EA00 to EA80 to EB00 to EB80 to 4
E87F E8FF E97F E9FF EA7F EAFF EB7F EBFF
F800 to F880 to F900 to F980 to FA00 to FA80 to FB00 to FB80 to
15
F87F F8FF F97F F9FF FA7F FAFF FB7F FBFF

4-3
 4.1 Motion Parameter Register Addresses

 Axis Numbers 25 to 32
Axis Axis Axis Axis Axis Axis Axis Axis
Circuit
Number Number Number Number Number Number Number Number
Number
25 26 27 28 29 30 31 32
8C00 to 8C80 to 8D00 to 8D80 to 8E00 to 8E80 to 8F00 to 8F80 to
1
8C7F 8CFF 8D7F 8DFF 8E7F 8EFF 8F7F 8FFF
9C00 to 9C80 to 9D00 to 9D80 to 9E00 to 9E80 to 9F00 to 9F80 to
3
9C7F 9CFF 9D7F 9DFF 9E7F 9EFF 9F7F 9FFF
AC00 to AC80 to AD00 to AD80 to AE00 to AE80 to AF00 to AF80 to
5
AC7F ACFF AD7F ADFF AE7F AEFF AF7F AFFF
BC00 to BC80 to BD00 to BD80 to BE00 to BE80 to BF00 to BF80 to
7
BC7F BCFF BD7F BDFF BE7F BEFF BF7F BFFF
CC00 to CC80 to CD00 to CD80 to CE00 to CE80 to CF00 to CF80 to
9
CC7F CCFF CD7F CDFF CE7F CEFF CF7F CFFF
DC00 to DC80 to DD00 to DD80 to DE00 to DE80 to DF00 to DF80 to
11
DC7F DCFF DD7F DDFF DE7F DEFF DF7F DFFF
EC00 to EC80 to ED00 to ED80 to EE00 to EE80 to EF00 to EF80 to
13
EC7F ECFF ED7F EDFF EE7F EEFF EF7F EFFF
FC00 to FC80 to FD00 to FD80 to FE00 to FE80 to FF00 to FF80 to
15
FC7F FCFF FD7F FDFF FE7F FEFF FF7F FFFF

 When One Circuit Is Assigned

 Axis Numbers 1 to 8
Circuit Axis Axis Axis Axis Axis Axis Axis Axis
Number Number 1 Number 2 Number 3 Number 4 Number 5 Number 6 Number 7 Number 8
8000 to 8080 to 8100 to 8180 to 8200 to 8280 to 8300 to 8380 to
1
807F 80FF 817F 81FF 827F 82FF 837F 83FF
8800 to 8880 to 8900 to 8980 to 8A00 to 8A80 to 8B00 to 8B80 to
2
887F 88FF 897F 89FF 8A7F 8AFF 8B7F 8BFF
9000 to 9080 to 9100 to 9180 to 9200 to 9280 to 9300 to 9380 to
3
907F 90FF 917F 91FF 927F 92FF 937F 93FF
9800 to 9880 to 9900 to 9980 to 9A00 to 9A80 to 9B00 to 9B80 to
4
987F 98FF 997F 99FF 9A7F 9AFF 9B7F 9BFF
A000 to A080 to A100 to A180 to A200 to A280 to A300 to A380 to
5
A07F A0FF A17F A1FF A27F A2FF A37F A3FF
A800 to A880 to A900 to A980 to AA00 to AA80 to AB00 to AB80 to
6
A87F A8FF A97F A9FF AA7F AAFF AB7F ABFF
B000 to B080 to B100 to B180 to B200 to B280 to B300 to B380 to
7
B07F B0FF B17F B1FF B27F B2FF B37F B3FF
B800 to B880 to B900 to B980 to BA00 to BA80 to BB00 to BB80 to
8
B87F B8FF B97F B9FF BA7F BAFF BB7F BBFF
C000 to C080 to C100 to C180 to C200 to C280 to C300 to C380 to
9
C07F C0FF C17F C1FF C27F C2FF C37F C3FF
C800 to C880 to C900 to C980 to CA00 to CA80 to CB00 to CB80 to
10
C87F C8FF C97F C9FF CA7F CAFF CB7F CBFF
D000 to D080 to D100 to D180 to D200 to D280 to D300 to D380 to
11
D07F D0FF D17F D1FF D27F D2FF D37F D3FF
D800 to D880 to D900 to D980 to DA00 to DA80 to DB00 to DB80 to
12
D87F D8FF D97F D9FF DA7F DAFF DB7F DBFF
E000 to E080 to E100 to E180 to E200 to E280 to E300 to E380 to
13
E07F E0FF E17F E1FF E27F E2FF E37F E3FF
Continued on next page.

4-4
 4.1 Motion Parameter Register Addresses

Continued from previous page.

Circuit Axis Axis Axis Axis Axis Axis Axis Axis
Number Number 1 Number 2 Number 3 Number 4 Number 5 Number 6 Number 7 Number 8
E800 to E880 to E900 to E980 to EA00 to EA80 to EB00 to EB80 to
14
E87F E8FF E97F E9FF EA7F EAFF EB7F EBFF
F000 to F080 to F100 to F180 to F200 to F280 to F300 to F380 to
15
F07F F0FF F17F F1FF F27F F2FF F37F F3FF
F800 to F880 to F900 to F980 to FA00 to FA80 to FB00 to FB80 to
16
F87F F8FF F97F F9FF FA7F FAFF FB7F FBFF

 Axis Numbers 9 to 16
Axis Axis Axis Axis Axis Axis Axis Axis
Circuit
Number Number Number Number Number Number Number Number
Number
9 10 11 12 13 14 15 16
8400 to 8480 to 8500 to 8580 to 8600 to 8680 to 8700 to 8780 to
1
847F 84FF 857F 85FF 867F 86FF 877F 87FF
8C00 to 8C80 to 8D00 to 8D80 to 8E00 to 8E80 to 8F00 to 8F80 to
2
8C7F 8CFF 8D7F 8DFF 8E7F 8EFF 8F7F 8FFF
9400 to 9480 to 9500 to 9580 to 9600 to 9680 to 9700 to 9780 to
3
947F 94FF 957F 95FF 967F 96FF 977F 97FF
9C00 to 9C80 to 9D00 to 9D80 to 9E00 to 9E80 to 9F00 to 9F80 to
4
9C7F 9CFF 9D7F 9DFF 9E7F 9EFF 9F7F 9FFF
A400 to A480 to A500 to A580 to A600 to A680 to A700 to A780 to
5
A47F A4FF A57F A5FF A67F A6FF A77F A7FF
AC00 to AC80 to AD00 to AD80 to AE00 to AE80 to AF00 to AF80 to
6
AC7F ACFF AD7F ADFF AE7F AEFF AF7F AFFF
B400 to B480 to B500 to B580 to B600 to B680 to B700 to B780 to
7
B47F B4FF B57F B5FF B67F B6FF B77F B7FF
BC00 to BC80 to BD00 to BD80 to BE00 to BE80 to BF00 to BF80 to
8
BC7F BCFF BD7F BDFF BE7F BEFF BF7F BFFF
C400 to C480 to C500 to C580 to C600 to C680 to C700 to C780 to

Motion Parameters
9
C47F C4FF C57F C5FF C67F C6FF C77F C7FF
CC00 to CC80 to CD00 to CD80 to CE00 to CE80 to CF00 to CF80 to
10
CC7F CCFF CD7F CDFF CE7F CEFF CF7F CFFF
D400 to D480 to D500 to D580 to D600 to D680 to D700 to D780 to
11
D47F D4FF D57F D5FF D67F D6FF D77F D7FF
DC00 to DC80 to DD00 to DD80 to DE00 to DE80 to DF00 to DF80 to
12
DC7F DCFF DD7F DDFF DE7F DEFF DF7F DFFF
4
E400 to E480 to E500 to E580 to E600 to E680 to E700 to E780 to
13
E47F E4FF E57F E5FF E67F E6FF E77F E7FF
EC00 to EC80 to ED00 to ED80 to EE00 to EE80 to EF00 to EF80 to
14
EC7F ECFF ED7F EDFF EE7F EEFF EF7F EFFF
F400 to F480 to F500 to F580 to F600 to F680 to F700 to F780 to
15
F47F F4FF F57F F5FF F67F F6FF F77F F7FF
FC00 to FC80 to FD00 to FD80 to FE00 to FE80 to FF00 to FF80 to
16
FC7F FCFF FD7F FDFF FE7F FEFF FF7F FFFF

4-5
 4.2 Motion Parameter Tab Pages

4.2 Motion Parameter Tab Pages

You can set and monitor motion parameters on the tab pages of the SVC Definition Tab Page.
Refer to the following section for the procedure to display the Motion Parameter Tab Pages.
3.3 SVC Definition (page 3-22)

 Fixed Parameter Tab Page

 Setting/Monitor Parameter Tab Page

4-6
 4.2 Motion Parameter Tab Pages

 Servo/Servo Monitor Parameter Tab Page

Motion Parameters
4

4-7
 4.3 Motion Parameter Tables
Fixed Parameter Table

4.3 Motion Parameter Tables

This section provides tables of the motion parameters.
Note: The parameter names that are used in this manual are sometimes different from the parameter names that are dis-
played on the MPE720. If a different parameter name is displayed on the MPE720, it is provided in parentheses in
the parameter tables.

Fixed Parameter Table

The following table lists the SVC, SVC32, SVR, and SVR32 fixed parameters.
Refer to the pages in the Detailed information Column for details on the fixed parameters in the following
table.

SVC or SVR or Detailed infor-

No. Name Description
SVC32 SVR32 mation
0: Normal Operation Mode √ √
1: Unused Axis (Axis unused) √ √ Operation Mode
Operation Mode
0 2: Simulation Mode √ − Selection (page
Selection
3: SERVOPACK Transmission Reference Mode √ − 4-30)
4 and 5: Reserved for system. − −
Bit 0: Axis Selection
√ √
0: Finite-length axis, 1: Infinite-length axis*1
Bit 1: Enable Positive Software Limit
(Soft limit (positive direction) enable/disable) √ −
0: Disabled, 1: Enabled
Bit 2: Enable Negative Software Limit (Soft limit
(negative direction) enable/disable) √ −
0: Disabled, 1: Enabled
Bit 3: Enable Positive Overtravel (Overtravel
positive direction enable/disable) √ −
0: Disabled, 1: Enabled
Bit 4: Enable Negative Overtravel (Overtravel
negative direction enable/disable) √ −
0: Disabled, 1: Enabled
Bits 5 to 7: Reserved for system. − −
Bit 8: Interpolation Segment Distribution Pro- Function Selec-
Function Selec-
1 cessing √ − tion Flags 1
tion Flags 1
0: Enabled, 1: Disabled (page 4-31)
Bit 9: Simple Absolute Infinite Axis Position
Management (Simple ABS rotary Pos. mode) √ −
0: Disabled, 1: Enabled
Bit A: SERVOPACK Parameter Auto-Write
(User constants self-writing function) √ −
0: Enabled, 1: Disabled
Bit B: User-specified SERVOPACK Parameter
Auto-Write (User select User constants self-writ-
√ −
ing function)
0: Disabled, 1: Enabled
Bit C: Software Limit Parameter Selection (Soft
√ −
limit parameter selection)
Bit D: Torque Base Unit of SERVOPACK
√ −
0: Set by user, 1: Set by system
Bits E and F: Reserved for system. − −
Continued on next page.
*1. Always set this parameter to 0 for linear motors.

4-8
 4.3 Motion Parameter Tables
Fixed Parameter Table

Continued from previous page.

SVC or SVR or Detailed infor-
No. Name Description
SVC32 SVR32 mation
Bit 0: Mask Communications Error Detection
(Communication abnormality detection mask) √ −
0: Disabled, 1: Enabled
Bit 1: Mask Watchdog Error Detection
(WDT abnormality detection mask) √ − Function Selec-
Function Selec- 0: Disabled, 1: Enabled
2 tion Flags 2
tion Flags 2
Bits 2 to 4: Reserved for system. − − (page 4-35)
Bit 5: Finite-length Multiturn Limit Setting Dis-
agreement Detection Mask √ −
(0: Do not detect, 1: Detect)
Bits 6 to F: Reserved for system. − −
3 − Reserved for system. − − −
0: Pulses
1: mm
Reference Unit
4 2: Degrees √ √
Selection*2
3: Inches
4: μm
Number of Digits
5 Below Decimal 1 = 1 digit √ √
Point Reference Unit
Travel Distance Selection (page
per Machine 4-35)
1 = 1 reference unit √ √
Rotation (Rotary
6 Motor)
Linear Scale
Pitch (Linear 1 = 1 reference unit √ √
Motor)
Servomotor Gear
8 1 = 1 revolution √ √

Motion Parameters
Ratio Term*3
Machine Gear Reference Unit
9 1 = 1 revolution √ √ Selection (page
Ratio Term*3 4-35)
Infinite-length
Axis Reset Posi- Infinite-length
10 tion (POS- 1 = 1 reference unit √ √ Axis Reset Posi-
tion (page 4-37)
MAX)*3
4
Positive Soft-
12 1 = 1 reference unit √ −
ware Limit Software Limits
Negative Soft- (page 4-38)
14 1 = 1 reference unit √ −
ware Limit
16
to − Reserved for system. − − −
28
Motor Type 0: Rotary motor
29 √ √
Selection 1: Linear motor
0: Incremental encoder SERVOPACK
1: Absolute encoder Settings (page 4-
Encoder Selec- 39)
30 2: Absolute encoder used as incremental encoder √ −
tion
(Absolute encoder (Incremental encoder is used))
3: Reserved for system.
Continued on next page.
*2. For linear motors, you can use 0 (pulses), 1 (mm), or 4 (μm). If 2 (degrees) or 3 (inches) is selected, the unit is con-
verted to mm.
*3. This parameter is not valid for linear motors.

4-9
 4.3 Motion Parameter Tables
Fixed Parameter Table

Continued from previous page.

SVC or SVR or Detailed infor-
No. Name Description
SVC32 SVR32 mation
31
to − Reserved for system. − − −
33
Rated Motor
Speed (Rotary 1 = 1 min-1 √ √
34 Motor)
Rated Speed
1 = 0.1 m/s √ √
(Linear Motor)
Number of
Pulses Per Motor
1 = 1 pulse/rev √ √
Rotation (Rotary
Motor) Encoder Set-
36 tings (page 4-39)
Number of
Pulses Per Linear
1 = 1 pulse/scale pitch √ √
Scale Pitch (Lin-
ear Motor)
Maximum Num-
ber of Absolute
38 Encoder Rota- 1 = 1 revolution √ −
tions*3*4
40
to − Reserved for system. − − −
41
Feedback Speed
Movement Aver- Encoder Set-
42 1 = 1 ms √ √
aging Time Con- tings (page 4-39)
stant
43 − Reserved for system. − − −
User-specified
SERVOPACK Specifies the SERVOPACK parameter number to
44 √ −
Parameter Num- apply automatically.
ber Encoder Set-
tings (page 4-39)
User-specified Specifies the data size of the above SERVOPACK
45 SERVOPACK parameter. √ −
Parameter Size 1=1W
*3. This parameter is not valid for linear motors.
*4. Set this parameter to 0 when a direct-drive motor is used.

4-10
 4.3 Motion Parameter Tables
Setting Parameter Table

Setting Parameter Table

The following table lists the SVC, SVC32, SVR, and SVR32 setting parameters.

Information • Refer to the pages in the Detailed information Column for details on the setting parameters in
the following table.
• “OW00” indicates the first output register address plus 00. Refer to the following section
for the procedure to determine the first address of the output registers.
4.1 Motion Parameter Register Addresses (page 4-2)

SVC SVR Detailed

Register
Name Description or or informa-
Address
SVC32 SVR32 tion
Bit 0: Servo ON
√ √
0: OFF, 1: ON
Bit 1: Machine lock
0: Machine lock mode released √ −
1: Machine lock mode
Bits 2 to 3: Reserved for system. − −
Bit 4: Latch Detection Request (Latch detec-
tion demand) √ −
0: OFF, 1: ON
Bit 5: Reserved for system. − −
Bit 6: Number of POSMAX Turns Preset
Request (POSMAX turn number presetting
demand) √ √
0: OFF, 1: ON*1
Bit 7: Absolute Infinite-length Position Infor-
mation Load Request (Request ABS rotary
pos. load) √ −
0: OFF, 1: ON*1
Operation

Motion Parameters
Operation Bit 8: Positive External Torque/Force Limit Command
OW00 Command Input (Forward outside limiting torque/thrust
√ − Settings
Settings input) (page 4-42)
0: OFF, 1: ON
Bit 9: Negative External Torque/Force Limit
Input (Reverse outside limiting torque/thrust
√ −
input)
0: OFF, 1: ON
4
Bit A: Reserved for system. − −
Bit B: Reset Integration (Integration reset)
√ −
0: OFF, 1: ON
Bit C: Reset Network (Network reset)
√ −
0: OFF, 1: ON
Bit D: Latch Completed Status Clear Request
(Latch completion status clear request) √ −
0: OFF, 1: ON
Bit E: Reset Communications
(Communication reset) √ −
0: OFF, 1: ON
Bit F: Clear Alarm (Alarm clear)
√ √
0: OFF, 1: ON
Continued on next page.
*1. Always set this parameter to 0 for linear motors.

4-11
 4.3 Motion Parameter Tables
Setting Parameter Table

Continued from previous page.

SVC SVR Detailed
Register
Name Description or or informa-
Address
SVC32 SVR32 tion
Bit 0: Excessive Deviation Error Level Setting
√ −
0: Alarm, 1: Warning
Bits 1 to 2: Reserved for system. − −
Bit 3: Speed Loop P/PI Switch
√ − Mode Set-
Mode Settings 0: PI control, 1: P control
OW01 tings 1
1 Bit 4: Switch Gain (Gain switch)
√ − (page 4-45)
0: OFF, 1: ON
Bit 5: Switch Gain 2*2 (Gain switch 2) √ −
0: OFF, 1: ON
Bits 6 to F: Reserved for system. − −
Bits 0 to 7: Reserved for system. − −
Bits 8 to F: Stop Mode Selection
0: Stop according to the Linear Deceleration Mode Set-
Mode Settings
OW02 Rate/Deceleration Time Constant parameter tings 2
2 √ −
(Decelerate to a stop according to the linear (page 4-46)
deceleration time constant).
1: Stop immediately. (Stop reference output.)
Bits 0 to 3: Speed Unit Selection
0: Reference units/s (Reference unit/sec)
1: 10n reference units/min √ √
2: Percentage of rated speed (1 = 0.01%)
3: Percentage of rated speed (1 = 0.0001%)
Bits 4 to 7: Acceleration/Deceleration Rate
Unit Selection
√ √ Function
Function Set- 0: Reference units/s2
OW03 Settings 1
tings 1 1: ms (page 4-47)
Bits 8 to B: Filter Type Selection
0: No filter (Filter none)
√ √
1: Exponential acceleration/deceleration filter
2: Moving average filter
Bits C to F: Torque Unit Selection
0: Percentage of rated torque (1 = 0.01%) √ √
1: Percentage of rated torque (1 = 0.0001%)
Bits 0 to 3: Latch Detection Signal Selection √ −
0: − − −
1: − − −
2: Phase-C pulse input signal √ −
3: /EXT1 √ −
4: /EXT2 √ −
5: /EXT3 √ − Function
Function Set-
OW04 Bits 4 to 7: External Positioning Signal Setting √ − Settings 2
tings 2
0: − − − (page 4-48)
1: − − −
2: Phase-C pulse input signal √ −
3: /EXT1 √ −
4: /EXT2 √ −
5: /EXT3 √ −
Bits 8 to F: Reserved for system. − −
Continued on next page.
*2. Currently under development.

4-12
 4.3 Motion Parameter Tables
Setting Parameter Table

Continued from previous page.

SVC SVR Detailed
Register
Name Description or or informa-
Address
SVC32 SVR32 tion
Bit 0: Reserved for system. − −
Bit 1: Disable Phase Reference Calculation
√ −
0: Enabled, 1: Disabled
Bit 2: External Positioning Final Travel
Distance Write Selection Function
Function Set- √ −
OW05 0: Do not automatically apply, Settings 3
tings 3
1: Automatically apply (page 4-49)
Bits 3 to A: Reserved for system. − −
Bit B: Zero Point Return Input Signal
√ −
0: OFF, 1: ON
Bits C to F: Reserved for system. − −
M-III Ven-
dor-spe-
M-III Vendor-
cific Servo
specific Servo This parameter is used as a vendor-specific
OW06 √ − Command
Command Out- output area.
Output Sig-
put Signal
nal (page
4-50)
OW07 − Reserved for system. − − −
Continued on next page.

Motion Parameters
4

4-13
 4.3 Motion Parameter Tables
Setting Parameter Table

Continued from previous page.

SVC SVR Detailed
Register
Name Description or or informa-
Address
SVC32 SVR32 tion
0: NOP (No Operation) (No command) √ √
1: POSING (Positioning) √ √
2: EX_POSING (External Positioning) √ √
3: ZRET (Zero Point Return) √ √
4: INTERPOLATE (Interpolation) √ √
5: ENDOF_INTERPOLATE (Last Interpola-
tion Segment) (Reserved for system use.) √ √
6: LATCH (Latch)
(Interpolation mode with latch input) √ √
7: FEED (Jog) (Jog mode) √ √
8: STEP (STEP Operation) (Relative position
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 Feedforward) √ −
17: PRM_RD (Read SERVOPACK Parame-
√ −
ter) (Read user constant)
18: PRM_WR (Write SERVOPACK Parame- Motion
Motion Com- √ −
OW08 ter) (Write user constant) Commands
mands
19: ALM_MON (Monitor Alarms) (page 4-51)
√ −
(Alarm monitor)
20: ALM_HIST (Monitor Alarm History)
√ −
(Alarm history monitor)
21: ALMHIST_CLR (Clear Alarm History) √ −
22: Reserved for system. − −
23: VELO (Issue Speed Reference) (Speed
reference) √ √
24: TRQ (Issue Torque/Force Reference)
(Torque/Thrust reference) √ √
25: PHASE (Issue Phase Reference) (Phase
reference) √ √
26: KIS (Change Position Loop Integral Time
√ −
Constant)
27: PPRM_WR (Write Non-volatile Parame-
√ −
ter) (Stored parameter write)
28 to 33: Reserved for system. − −
34: EX_FEED (Jog with External Positioning)
√ −
(Jog mode with external positioning)
35: MEM_RD (Read Memory) √ −
36: MEM_WR (Write Memory) √ −
37: PMEM_RD (Read Non-volatile Memory) √ −
38: PMEM_WR (Write Non-volatile Mem-
√ −
ory)
Continued on next page.

4-14
 4.3 Motion Parameter Tables
Setting Parameter Table

Continued from previous page.

SVC SVR Detailed
Register
Name Description or or informa-
Address
SVC32 SVR32 tion
Bit 0: Hold Command (Holds a command)
√ √
0: OFF, 1: ON
Bit 1: Cancel Command (Interrupt a com-
mand) √ √
0: OFF, 1: ON
Bit 2: Travel Direction
(Moving direction (JOG/STEP)) √ √
0: Forward, 1: Reverse
Bit 3: Zero Point Return Direction Selection
√ −
0: Reverse, 1: Forward
Bit 4: Latch Zone Enable (Latch zone effec-
tive selection) √ −
0: Disabled, 1: Enabled
Motion
Bit 5: Position Reference Type
Motion Com- Command
0: Incremental value addition method (Incre-
OW09 mand Control Control
mental value add method) √ √
Flags Flags (page
1: Absolute value specification method (Abso-
4-52)
lute value set method)
Bit 6: Electric Cam Phase Compensation Type
(Phase Compensation Type)
0: Incremental value addition method (Incre-
√ −
mental value add method)
1: Absolute value specification method (Abso-
lute value set method)
Bit 7: Reserved for system. − −
Bit 8: SERVOPACK Parameter Access Selec-
tion (Access target servo driver user constant)
√ −
0: Vendor-specific parameters

Motion Parameters
1: Common parameters
Bits 9 to F: Reserved for system. − −
0: NOP (No Operation) √ √
1: PRM_RD (Read SERVOPACK Parameter)
√ −
(Read user constant)
2: PRM_WR (Write SERVOPACK Parame-
ter) √ − Motion
Motion Sub- (Write user constant) Subcom- 4
OW0A
commands mands
3: INF_RD (Read Device Information) √ −
(page 4-54)
4: SMON (Monitor Status) √ −
5: FIXPRM_RD (Read Fixed Parameter) √ √
6: FIXPRM_CHG (Change Fixed Parameter)
√ −
(Write fixed parameter)
OW0B − Reserved for system. − − −
Torque/Force
Reference Set-
The unit is set in bits C to F (Torque Unit
OL0C ting or Torque √ √
Selection) of OW03. Torque Ref-
Feedforward
Compensation erence
(page 4-54)
Speed Limit for
OW0E Torque/Force 1 = 0.01% (percentage of rated speed) √ −
Reference
OW0F − Reserved for system. − − −
Continued on next page.

4-15
 4.3 Motion Parameter Tables
Setting Parameter Table

Continued from previous page.

SVC SVR Detailed
Register
Name Description or or informa-
Address
SVC32 SVR32 tion
Speed Refer- The unit is set in bits 0 to 3 (Speed Unit Selec- Speed Ref-
OL10 √ √
ence Setting tion) of OW03. erence Set-
ting (page
OW12 Speed Limit 1 = 0.01% (percentage of rated speed) √ − 4-55)
OW13 − Reserved for system. − − −
Torque/
Torque/Force The unit is set in bits C to F (Torque Unit
OL14 √ − Force Limit
Limit Selection) of OW03.
(page 4-57)
Second
Speed
Second Speed The unit is set in bits 0 to 3 (Speed Unit Selec-
OL16 √ √ Compensa-
Compensation tion) of OW03.
tion (page
4-57)
Override
OW18 Override 1 = 0.01% √ -
(page 4-58)
OW19
to − Reserved for system. − − −
OW1B
Position
Position Refer- Reference
OL1C 1 = 1 reference unit √ √
ence Setting Setting
(page 4-58)
Position-
Positioning ing Com-
OL1E Completion 1 = 1 reference unit √ − pletion
Width Width
(page 4-59)
NEAR Sig-
NEAR Signal nal Output
OL20 1 = 1 reference unit √ −
Output Width Width
(page 4-60)
Excessive
Excessive
Deviation
Deviation
OL22 1 = 1 reference unit √ − Detection
Detection
Value (page
Value
4-61)
OL24 − Reserved for system. − − −
Position-
ing Com-
Positioning
pletion
OW26 Completion 1 = 1 ms √ −
Check Time
Check Time
(page 4-
61))
OW27 − Reserved for system. − − −
Phase
Phase Compen- Compensa-
OL28 1 = 1 reference unit √ −
sation Setting tion Setting
(page 4-62)
Continued on next page.

4-16
 4.3 Motion Parameter Tables
Setting Parameter Table

Continued from previous page.

SVC SVR Detailed
Register
Name Description or or informa-
Address
SVC32 SVR32 tion
Latch Zone
OL2A Lower Limit 1 = 1 reference unit √ −
Setting Latches
Latch Zone (page 4-62)
OL2C Upper Limit 1 = 1 reference unit √ −
Setting
Position Loop
OW2E 1 = 0.1 /s √ −
Gain
Speed Loop
OW2F 1 = 1Hz √ −
Gain
Speed Feedfor-
1 = 0.01% (percentage of distribution seg-
OW30 ward Compen- √ −
ment)
sation Gain and
Speed Com- Compensa-
OW31 1 = 0.01% (percentage of rated speed) √ √
pensation tion (page
Position Loop 4-63)
OW32 Integral Time 1 = 1 ms √ −
Constant
OW33 − Reserved for system. − −
Speed Loop
OW34 Integral Time 1 = 0.01 ms √ −
Constant
OW35 − Reserved for system. − − −
Linear Acceler-
The unit is set in bits 4 to 7 (Acceleration/
ation Rate/
OL36 Deceleration Rate Unit Selection) of √ √ Accelera-
Acceleration
OW03. tion/Decel-
Time Constant
eration
Linear Deceler-

Motion Parameters
The unit is set in bits 4 to 7 (Acceleration/ Settings
ation Rate/ (page 4-66)
OL38 Deceleration Rate Unit Selection) of √ √
Deceleration
OW03.
Time Constant
Filter Time
OW3A 1 = 0.1 ms √ √
Constant
Bias Speed for Filter (page
Indexed Decel- The unit is set in bits 0 to 3 (Speed Unit Selec- 4-68)
OW3B − √
eration/Accel- tion) of OW03. 4
eration Filter
Continued on next page.

4-17
 4.3 Motion Parameter Tables
Setting Parameter Table

Continued from previous page.

SVC SVR Detailed
Register
Name Description or or informa-
Address
SVC32 SVR32 tion
0: DEC1 + C pulse
1: ZERO signal
2: DEC1 + ZERO signal
3: C pulse
4 to 10: Reserved for system.
11: C pulse only
Zero Point 12: P-OT + C pulse
OW3C √ −
Return Method 13: P-OT only
14: HOME LS + C pulse
15: HOME only
16: N-OT + C pulse
Zero Point
17: N-OT only
Return
18: INPUT + C pulse
(page 4-69)
19: INPUT only
Zero Point
OW3D Position Output 1 = 1 reference unit √ √
Width
Approach The unit is set in bits 0 to 3 (Speed Unit Selec-
OL3E √ −
Speed tion) of OW03.
The unit is set in bits 0 to 3 (Speed Unit Selec-
OL40 Creep Speed √ −
tion) of OW03.
Zero Point
OL42 Return Travel 1 = 1 reference unit √ −
Distance
STEP
STEP Travel Travel Dis-
OL44 1 = 1 reference unit √ √
Distance tance (page
4-70)
External
Position-
External Posi-
ing Final
OL46 tioning Final 1 = 1 reference unit √ −
Travel Dis-
Travel Distance
tance (page
4-71)
Zero Point
Position Offset
OL48 in Machine 1 = 1 reference unit √ √
Coordinate
System Coordinate
Working Coor- System Set-
OL4A dinate System 1 = 1 reference unit √ √ tings (page
Offset 4-71)
Number of
POSMAX
OL4C*3 Turns Preset
1 = 1 revolution √ √
Data
Continued on next page.
*3. This parameter is not valid for linear motors.

4-18
 4.3 Motion Parameter Tables
Setting Parameter Table

Continued from previous page.

SVC SVR Detailed
Register
Name Description or or informa-
Address
SVC32 SVR32 tion
Bits 0 to 3: Monitor 1 (Cannot be set.) SERVO-
SERVOPACK PACK User
Bits 4 to 7: Monitor 2
OW4E User Monitor √ − Monitor
Bits 8 to B: Monitor 3 (Cannot be set.)
Setting Setting
Bits C to F: Monitor 4 (page 4-72)
SERVOPACK
OW4F Alarm Monitor Sets the number of the alarm to monitor. √ −
Number
SERVOPACK
OW50 Parameter Sets the SERVOPACK parameter number. √ −
Number
SERVOPACK Sets the size of the SERVOPACK parameter in
OW51 √ −
Parameter Size words.
SERVOPACK
Sets the set value for the SERVOPACK
OL52 Parameter Set √ −
parameter.
Value
SERVO-
Auxiliary SER- PACK Ref-
VOPACK erences
OW54 Sets the SERVOPACK parameter number. √ −
Parameter (page 4-73)
Number
Auxiliary SER-
Sets the size of the SERVOPACK parameter in
OW55 VOPACK √ −
words.
Parameter Size
Auxiliary SER-
VOPACK Sets the set value for the SERVOPACK
OL56 √ −
Parameter Set parameter.
Value
Sets the target address for the MEM_RD,
Address Set-

Motion Parameters
OL58 MEM_WR, PMEM_RD, and PMEM_WR √ −
ting
motion commands.
OW5A − Reserved for system. − − −
00 hex: Disabled
01 hex: Vendor ID code SERVO-
Device Infor- PACK User
02 hex: Device code
OW5B mation Selec- √ − Monitor
03 hex: Device version
tion Code Setting
04 hex: Device information file version (page 4-72) 4
05 hex: Serial number
Auxiliary
Fixed Parame- Sets the number of the fixed parameter to read
OW5C √ √ Settings
ter Number with the FIXPRM_RD motion subcommand.
(page 4-76)
OW5D − Reserved for system. − − −
Continued on next page.

4-19
 4.3 Motion Parameter Tables
Setting Parameter Table

Continued from previous page.

SVC SVR Detailed
Register
Name Description or or informa-
Address
SVC32 SVR32 tion
Power OFF
Encoder Posi-
tion (Encoder
OL5E*4 position when 1 = 1 pulse √ −
power is off)
(Lower 2
Words)
Power OFF
Encoder Posi-
tion (Encoder Absolute
OL60*4 position when 1 = 1 pulse √ − Infinite-
power is off) length
(Upper 2 Position
Words) Manage-
Power OFF ment Infor-
Pulse Position mation
(Pulse position (page 4-76)
OL62*4 1 = 1 pulse √ −
when power is
off) (Lower 2
Words)
Power OFF
Pulse Position
(Pulse position
OL64*4 when power is
1 = 1 pulse √ −
off) (Upper 2
Words)
SERVO-
PACK
Positive Soft-
OL66 1 = 1 reference unit √ − Parame-
ware Limit
ters (page
4-78)
SERVO-
PACK
Negative Soft-
OL68 1 = 1 reference unit √ − Parame-
ware Limit
ters (page
4-78)
Reserved for
OL6E Reserved for system. − − −
system.
SERVO-
User-specified
Enter the value to set for the SERVOPACK PACK
SERVOPACK
OL70 parameter that is set with fixed parameter No. √ − Parame-
Parameter Set
44. ters (page
Value
4-78)
Command Buf- SERVO-
OW68 fers for SER- PACK
This area is used for command data when
to VOPACK Transmis-
MECHATROLINK Servo commands are √ −
Transmission sion Refer-
OW7F*5 Reference
specified directly.
ence Mode
Mode (page 4-78)
*4. Do not set this parameter for linear motors.
*5. These parameters are used in SERVOPACK Transmission Reference Mode only.

4-20
 4.3 Motion Parameter Tables
Monitor Parameter Table

Monitor Parameter Table

The following table lists the SVC, SVC32, SVR, and SVR32 monitor parameters.

Information • Refer to the pages in the Detailed information Column for details on for monitor parameters in
the following table.
• “IW00” indicates the first input register address plus 00. Refer to the following section
for the procedure to determine the first address of the input registers.
4.1 Motion Parameter Register Addresses (page 4-2)

SVC SVR Detailed

Register
Name Description or or informa-
Address
SVC32 SVR32 tion
Bit 0: Motion Operation Ready (Motion controller
operation ready)
√ √
0: Motion operation not ready
1: Motion operation ready
Bit 1: Running with Servo ON (Running (At servo
on)) √ √
0: Stopped, 1: Running with Servo ON RUN Sta-
IW00 RUN Status Bit 2: System Busy tus (page
√ −
0: System not busy, 1: System busy 4-79)
Bit 3: Servo Ready
√ −
0: Servo not ready, 1: Servo ready
Bit 4: Latch Mode
0: Latch detection request not received √ −
1: Latch detection request received
Bits 5 to F: Reserved for system. − −
Out-of-
range
Out-of-range
Setting parameter: 0 and higher Parame-
IW01 Parameter √ √
Fixed parameter: 1000 and higher ter Num-

Motion Parameters
Number
ber (page
4-80)
Bit 0: Excessive Deviation
0: In normal deviation range √ −
1: Excessive deviation detected
Bit 1: Setting Parameter Error (Set parameter error)
√ √
0: In setting range, 1: Outside setting range
Bit 2: Fixed Parameter Error 4
√ √
0: In setting range, 1: Outside setting range
Bit 3: SERVOPACK Error
√ −
0: No warning, 1: Warning
IL02 Bit 4: Motion Command Setting Error (Motion Warn-
(Continued command set error) ings
Warnings √ √
on next 0: No command setting error (page 4-
page.) 1: Command setting error 81)
Bit 5: Reserved for system. − −
Bit 6: Positive Overtravel (Positive direction over-
travel)
√ −
0: No positive overtravel
1: Positive overtravel occurred
Bit 7: Negative Overtravel (Negative direction
overtravel)
√ −
0: No negative overtravel
1: Negative overtravel occurred
Continued on next page.

4-21
 4.3 Motion Parameter Tables
Monitor Parameter Table

Continued from previous page.

SVC SVR Detailed
Register
Name Description or or informa-
Address
SVC32 SVR32 tion
Bit 8: Servo ON Incomplete
√ −
0: Servo ON, 1: Servo ON incomplete
Bit 9: SERVOPACK Communications Warning
IL02 0: Communications normal √ − Warn-
(Continued 1: Communications error detected ings
Warnings
from previ- (page 4-
ous page.) Bit A: SERVOPACK Stop Signal Active 81)
0: There is no stop signal input √ −
1: There is a stop signal input
Bits B to 1F: Reserved for system. − −
Bit 0: SERVOPACK Error
0: No SERVOPACK alarm √ −
1: SERVOPACK alarm occurred
Bit 1: Positive Overtravel
(Positive direction overtravel)
√ −
0: No positive overtravel
1: Positive overtravel occurred
Bit 2: Negative Overtravel
(Negative direction overtravel)
√ −
0: No negative overtravel
1: Negative overtravel occurred
Bit 3: Positive Software Limit
(Positive direction software limit)
√ −
0: Positive software limit not exceeded
1: Positive software limit exceeded
Bit 4: Negative Software Limit
(Negative direction software limit)
√ −
0: Negative software limit not exceeded
1: Negative software limit exceeded
Bit 5: Servo OFF
IL04 √ √
0: Servo ON, 1: Servo OFF Alarms
(Continued
Alarms Bit 6: Positioning Time Exceeded (page 4-
on next
(Positioning time over) √ − 83)
page.)
0: No timeout, 1: Timeout occurred
Bit 7: Excessive Positioning Travel Distance
(Excessive positioning moving amount)
√ −
0: Normal travel distance
1: Excessive travel distance
Bit 8: Excessive Speed
√ −
0: Normal speed, 1: Excessive speed
Bit 9: Excessive Deviation
0: Normal following deviation √ −
1: Excessive deviation
Bit A: Filter Type Change Error
√ −
0: No change error, 1: Change error occurred
Bit B: Filter Time Constant Change Error
√ −
0: No change error, 1: Change error occurred
Bit C: Reserved for system. − −
*1
Bit D: Zero Point Unset (Zero point unsetting)
0: Zero point is not set √ −
1: Zero point unset error occurred
Bits E and F: Reserved for system. − −
Continued on next page.
*1. This parameter is not valid for linear motors.

4-22
 4.3 Motion Parameter Tables
Monitor Parameter Table

Continued from previous page.

SVC SVR Detailed
Register
Name Description or or informa-
Address
SVC32 SVR32 tion
Bit 10: SERVOPACK Synchronized Communica-
tions Error (Servo Driver Synch. Comm. error)
√ −
0: No synchronized communications error
1: Synchronized communications error occurred
Bit 11: SERVOPACK Communications Error
0: No consecutive synchronized communications
errors √ −
1: Consecutive synchronized communications
errors occurred
Bit 12: SERVOPACK Communications Timeout
Error
0: SERVOPACK command completed within the
√ −
specified time
1: SERVOPACK command not completed within
the specified time
IL04 Bit 13: Excessive Absolute Encoder Rotations*1
Alarms
(Continued (Excessive ABS encoder rotations) √ −
Alarms (page 4-
from previ- 0: In valid range, 1: Outside valid range 83)
ous page.) Bits 14 and 15: Reserved for system. − −
Bit 16: Scan Setting Error
0: No scan setting error √ −
1: Scan setting error occurred
Bits 17 to 1B: Reserved for system. − −
Bit 1C: Cyclic Communications Initialization
Incomplete
√ −
0: Initialization completed (default)
1: Initialization not completed

Motion Parameters
Bit 1D: Detected SERVOPACK Model Error
√ −
0: Match, 1: Mismatch
Bit 1E: Motor Type Setting Error
√ −
0: Match, 1: Mismatch
Bit 1F: Connected Encoder Model Error
√ −
0: Match, 1: Mismatch
IL06 − Reserved for system. − − −
Motion 4
Com-
Motion Com-
mand
mand
IW08 Same as OW08 (motion commands). √ √ Response
Response
Code
Code
(page 4-
87)
Continued on next page.
*1. This parameter is not valid for linear motors.

4-23
 4.3 Motion Parameter Tables
Monitor Parameter Table

Continued from previous page.

SVC SVR Detailed
Register
Name Description or or informa-
Address
SVC32 SVR32 tion
Bit 0: Command Execution Flag (BUSY)
√ √
0: READY (Completed), 1: BUSY (Processing)
Bit 1: Command Hold Completed (HOLDL)
0: Command hold not completed √ √
1: Command hold completed
Bit 2: Reserved for system. − −
Motion
Bit 3: Command Error End (FAIL)
Com-
Motion Com- (Command error completed status)
IW09 √ √ mand Sta-
mand Status 0: Completed normally
tus (page
1: Completed with an error 4-87)
Bits 4 to 7: Reserved for system. − −
Bit 8: Command Execution Completed
(COMPLETE)
√ √
0: Normal execution not completed
1: Normal execution completed
Bits 9 to F: Reserved for system. − −
Motion
Subcom-
Motion Sub-
mand
command
IW0A Same as OW0A (Motion Subcommands). √ √ Response
Response
Code
Code
(page 4-
88)
Bit 0: Command Execution Flag
√ √
0: READY (Completed), 1: BUSY (Processing)
Bits 1 to 2: Reserved for system. − −
Bit 3: Command Error End
(Command error completed status) Motion
Motion Sub- √ √ Subcom-
0: Completed normally
IW0B command mand Sta-
1: Completed with an error
Status tus (page
Bits 4 to 7: Reserved for system. − − 4-88)
Bit 8: Command Execution Completed
0: Normal execution not completed √ √
1: Normal execution completed
Bits 9 to F: Reserved for system. − −
Continued on next page.

4-24
 4.3 Motion Parameter Tables
Monitor Parameter Table

Continued from previous page.

SVC SVR Detailed
Register
Name Description or or informa-
Address
SVC32 SVR32 tion
Bit 0: Distribution Completed (DEN)
(Discharging completed) √ √
0: Distributing pulses, 1: Distribution completed
Bit 1: Positioning Completed (POSCOMP)
0: Outside positioning completed range √ √
1: Within positioning completed range
Bit 2: Latch Completed (LCOMP)
√ −
0: Latch not complete, 1: Latch completed
Bit 3: Near Position (NEAR)
0: Outside near position range √ √
1: Within near position range
Bit 4: Zero Point Position (ZERO)
0: Outside zero point position range √ √
1: Within zero point position range
Bit 5: Zero Point Return/Setting Completed Position
Position (ZRNC) Manage-
IW0C Management (Zero point return [setting] completed) √ √ ment Sta-
Status 0: Zero point return/setting not completed tus (page
1: Zero point return/setting completed 4-89)
Bit 6: Machine Locked (MLKL)
(During machine lock)
√ −
0: Machine Lock Mode released
1: Machine locked
Bit 7: Reserved for system. − −
Bit 8: Absolute Infinite-length Position Information
Load Completed (ABSLDE)*1
√ −
(ABS rotary pos. LOAD complete)

Motion Parameters
0: Load not complete, 1: Load completed
Bit 9: POSMAX Turn Preset Completed
(TPRSE)*1
√ √
(POSMAX turn preset complete)
0: Preset not completed, 1: Preset completed
Bits A to F: Reserved for system. − −
IW0D − Reserved for system. − − −
Continued on next page. 4
*1. This bit is not valid for linear motors.

4-25
 4.3 Motion Parameter Tables
Monitor Parameter Table

Continued from previous page.

SVC SVR Detailed
Register
Name Description or or informa-
Address
SVC32 SVR32 tion
Machine
Coordinate
IL0E System Tar- 1 = 1 reference unit √ √
get Position
(TPOS)
Machine
Coordinate
IL10 System Cal- 1 = 1 reference unit √ √
culated Posi-
tion (CPOS)
Machine
Coordinate
IL12 System Ref- 1 = 1 reference unit √ √
erence Posi-
tion (MPOS)
32-bit DPOS
IL14 1 = 1 reference unit √ √
(DPOS)
Machine
Coordinate Position
IL16 System Feed- 1 = 1 reference unit √ √ Informa-
back Position tion (page
(APOS) 4-91)
Machine
Coordinate
IL18 System Latch 1 = 1 reference unit √ −
Position
(LPOS)
Position
IL1A Deviation 1 = 1 reference unit √ −
(PERR)
Target Posi-
tion Incre-
ment Monitor
IL1C (PDV) 1 = 1 reference unit − √
(Target posi-
tion differ-
ence monitor)
Number of
IL1E*1 POSMAX 1 = 1 turn √ √
Turns
Refer-
Speed Refer- ence
IL20 ence Output pulse/s √ − Monitors
Monitor (page 4-
93)
IL22
to − Reserved for system. − − −
IL27
Continued on next page.
*1. This parameter is not valid for linear motors.

4-26
 4.3 Motion Parameter Tables
Monitor Parameter Table

Continued from previous page.

SVC SVR Detailed
Register
Name Description or or informa-
Address
SVC32 SVR32 tion
M-III Servo
Command Reports the signal information that is input to the Refer-
IL28 √ −
Input Signal MECHATROLINK-III. ence
Monitor Monitors
M-III Servo (page 4-
Reports the Servo command information that is 93)
IL2A Command √ −
input to MECHATROLINK-III.
Status
Bit 0: Drive Alarm (D_ALM) (Drive Alarm Occur-
rence)
Bit 1: Drive Warning (D_WAR) (Drive Warning
Occurrence)
Bit 2: Command Ready (CMDRDY)
Bit 3: Alarm Clear Execution Completed (ALM_-
M-III Com- CLR_CMP) (Alarm Clear Execution Completion) SERVO-
IW2C √ −
mand Status Bits 4 and 5: Reserved for system. PACK
Bits 6 and 7: Echo-back of Command ID (RCM- Status
D_ID) (page 4-
Bits 8 to B: Command Error Status (CMD_ALM) 94)
(Command Error)
Bits C to F: Communications Error Status (COM-
M_ALM)
SERVO-
IW2D PACK Alarm Reports the alarm code from the SERVOPACK. √ −
Code
IW2E − Reserved for system. − − −
SERVO- Bits 0 to 3: Monitor 1 (Cannot be set.)
PACK User Bits 4 to 7: Monitor 2
IW2F √ −
Monitor Bits 8 to B: Monitor 3 (Cannot be set.)

Motion Parameters
Information Bits C to F: Monitor 4
SERVO-
IL30 PACK User Reports the result of the selected monitor item. √ −
Monitor 2
SERVO-
SERVO-
IL32 PACK User Reserved for system. − −
PACK
Monitor 3
User
SERVO- Monitor 4
IL34 PACK User Reports the result of the selected monitor item. √ − Informa-
Monitor 4 tion (page
SERVO- 4-96)
PACK
IW36 Reports the number of the target parameter. √ −
Parameter
Number
Auxiliary
SERVO-
IW37 PACK Reports the number of the target parameter. √ −
Parameter
Number
Continued on next page.

4-27
 4.3 Motion Parameter Tables
Monitor Parameter Table

Continued from previous page.

SVC SVR Detailed
Register
Name Description or or informa-
Address
SVC32 SVR32 tion
SERVO-
PACK SERVO-
IL38 Reports the setting of the read parameter. √ −
Parameter PACK
Read Data User
Auxiliary Monitor
SERVO- Informa-
IL3A PACK Reports the setting of the read parameter. √ − tion (page
Parameter 4-96)
Read Data
IW3C
to − Reserved for system. − − −
IW3E
Reports the type of the connected motor.
IW3F Motor Type √ −
0: Rotary motor, 1: Linear motor SERVO-
Feedback The unit is set in bits 0 to 3 (Speed Unit Selection) PACK
IL40 √ √
Speed of OW03. Informa-
Torque/Force tion (page
The unit is set in bits C to F (Torque Unit Selection) 4-97)
IL42 Reference √ √
of OW03.
Monitor
IW44
to − Reserved for system. − − −
IW55
Auxil-
iary
Fixed Param- Stores the execution results of the FIXPRM_RD
IL56 √ √ Informa-
eter Monitor motion subcommand.
tion (page
4-99)
IW58
to − Reserved for system. − − −
IW5A
00 hex: Disabled
01 hex: Vendor ID code Auxil-
Device Infor- iary
02 hex: Device code
IW5B mation Moni- √ − Informa-
03 hex: Device version
tor Code tion (page
04 hex: Device information file version 4-99)
05 hex: Serial number
IL5C − Reserved for system. − − −
Continued on next page.

4-28
 4.3 Motion Parameter Tables
Monitor Parameter Table

Continued from previous page.

SVC SVR Detailed
Register
Name Description or or informa-
Address
SVC32 SVR32 tion
Power OFF
Encoder Posi-
tion (Encoder
IL5E position when 1 = 1 pulse √ −
power is off)
(Lower 2
Words)
Power OFF
Encoder Posi-
tion (Encoder
IL60 position when 1 = 1 pulse √ − Absolute
power is off) Infinite-
(Upper 2 length
Words) Position
Manage-
Power OFF ment
Pulse Posi- Informa-
tion (Pulse tion (page
IL62 position when 1 = 1 pulse √ − 4-100)
power is off)
(Lower 2
Words)
Power OFF
Pulse Posi-
tion (Pulse
IL64 position when 1 = 1 pulse √ −
power is off)
(Upper 2
Words)
IW66

Motion Parameters
to − Reserved for system. − − −
IW6F
Reserved
IW70 Device Infor-
Reports the information that was read with the for Future
to mation Moni- √ −
INF_RD subcommand. Use (page
IW7F tor Data
4-100)
SERVO-
Response
PACK
Buffers for
Transmis-
4
IW68 SERVO-
to sion Ref-
PACK Trans- Stores MECHATROLINK Servo responses. √ −
erence
IW7F*2 mission
Mode
Reference
(page 4-
Mode
101)
*2. These parameters are used in SERVOPACK Transmission Reference Mode only.

4-29
 4.4 Motion Parameter Details
Fixed Parameter Details

4.4 Motion Parameter Details

This section provides details on each of the motion parameters (fixed parameters, setting parameters, and
monitor parameters).

 Parameter Descriptions
Parameters are described in the following format:

Fixed parameters: This is the minimum unit (set value

The parameter number is given. increment) that you can set for the
Setting and monitor parameters: parameter.
The register address is given.

Setting Setting
No. Name Default Control mode
Range Unit
Phase
Operation Command Position
OW00 Settings – – 0000 hex
Speed Torque

This is the valid setting This is the default These are the control modes
setting of the for which you can use this
range for the parameter. parameter. parameter.

0: Normal Operation Mode (default) SVC/SVC32 SVR/SVR32

This shows whether the parameter
Use this setting to use an axis. can be used with the SVC, SVC32,
SVR or SVR32 Function Modules.

Fixed Parameter Details

This section provides details on each of the fixed parameters.
Refer to the following section for a list of the fixed parameters.
Fixed Parameter Table (page 4-8)

Operation Mode Selection

 No. 0: Operation Mode Selection

This parameter specifies how to use the axis.
No. Name Setting Range Setting Unit Default
0 Operation Mode Selection 0 to 3 − 0

0: Normal Operation Mode (default) SVC/SVC32 SVR/SVR32

Use this setting to use an axis.

1: Unused Axis SVC/SVC32 SVR/SVR32

Select this mode when an axis is not used to reduce the processing time.
Setting Precautions
• You cannot control an axis if Unused Axis is selected.
• You cannot update monitor parameters if Unused Axis is selected. If you change an axis from any other
operation mode to Unused Axis, the monitor parameters will retain their current status. The IW00
setting parameter (RUN Status) is set to 0.

4-30
 4.4 Motion Parameter Details
Fixed Parameter Details

2: Simulation Mode SVC/SVC32

In Simulation Mode, position information is reported in the monitor parameters even if a SERVO-
PACK is not connected.
This mode is used to virtually check the operation of application programs.
3: SERVOPACK Transmission Reference Mode SVC/SVC32

SERVOPACK Transmission Reference Mode is used to directly control the command-response com-
munications with the SERVOPACK from an application.
Setting Precautions
• No processing other than communications processing with the SERVOPACK is performed in this mode.
Position control and other processing must be performed in the application.
• Commands to the SERVOPACK are set in the area starting with the OW68 setting parameter and
responses are reported in the area starting with the IW68 monitor parameter.

Report
“Report” is used for information that is automatically transferred by the system in the CPU Function
Terms Module without any action by the user.

Function Selection Flags 1

 No. 1: Function Selection Flags 1

No. Name Setting Range Setting Unit Default
1 Function Selection Flags 1 − − 0000 hex

 Bit 0: Axis Selection SVC/SVC32 SVR/SVR32

Motion Parameters
Set whether there is a limit on the movement of the controlled axis.
0: Finite-length axis (default).
This setting specifies a finite-length axis. Software limits can be used.
1: Infinite-length axis.
This setting specifies an infinite-length axis. Software limits cannot be used.
If an infinite-length axis is set, the position information is reset each time the position exceeds the 4
value that is set for fixed parameter No. 10 (Infinite-length Axis Reset Position).
Setting Precautions
Always set this parameter to 0 for linear motors.

 Bit 1: Enable Positive Software Limit SVC/SVC32

Enable or disable the software limit in the positive direction.

0: Disabled (default).
1: Enabled.
Setting Precautions
• This setting is ignored if the axis is set as an infinite-length axis.
• Set the software limit in fixed parameter No. 12 (Positive Software Limit).
• The software limit is valid only after bit 5 (Zero Point Return/Setting Completed) in the IW0C
monitor parameter changes to 1 (Completed).

4-31
 4.4 Motion Parameter Details
Fixed Parameter Details

Refer to the following section for details on the software limits.

11.3 Software Limits (page 11-9)

 Bit 2: Enable Negative Software Limit SVC/SVC32

Enable or disable the software limit in the negative direction.

0: Disabled (default).
1: Enabled.
Setting Precautions
• This setting is ignored if the axis is set as an infinite-length axis.
• Set the software limit in fixed parameter No. 14 (Negative Software Limit).
• The software limit is valid only after bit 5 (Zero Point Return/Setting Completed) in the IW0C
monitor parameter changes to 1 (Completed).
Refer to the following section for details on the software limits.
11.3 Software Limits (page 11-9)

 Bit 3: Enable Positive Overtravel SVC/SVC32

Enable or disable overtravel detection in the positive direction.

0: Disabled (default).
1: Enabled.
Setting Precautions
• Any changes made to this setting must also be made in the SERVOPACK.
• A warning occurs if a positive overtravel signal is input when this parameter is set to 0 (Disabled).
Refer to the following section for details on overtravel.
11.2 Overtravel (page 11-6)

 Bit 4: Enable Negative Overtravel SVC/SVC32

Enable or disable overtravel detection in the negative direction.

0: Disabled (default).
1: Enabled.
Setting Precautions
• Any changes made to this setting must also be made in the SERVOPACK.
• A warning occurs if a negative overtravel signal is input when this parameter is set to 0 (Disabled).
Refer to the following section for details on overtravel.
11.2 Overtravel (page 11-6)

 Bit 8: Interpolation Segment Distribution Processing SVC/SVC32

When an interpolation command (INTERPOLATE, LATCH, or PHASE) is executed, you can distribute
reference values that were generated in the high-speed scan cycle to reference values for the MECHA-
TROLINK communications cycle.
0: Enabled (default).
1: Disabled.
Setting Precautions
Always set this bit to 0.

4-32
 4.4 Motion Parameter Details
Fixed Parameter Details

 Bit 9: Simple Absolute Infinite Axis Position Management SVC/SVC32

Enable or disable infinite-length axis position control based on the condition that the number of turns that
the encoder counts is an integral multiple of the number of turns for the reset cycle for the reference unit.
This eliminates the need to save and load absolute infinite-length position management information from a
ladder program.
0: Disabled (default).
1: Enabled.
Setting Precautions
• Always set this parameter to 0 for linear motors.
• We recommend that this bit is set to 1 (Enabled) for absolute infinite-length axes. Refer to the following
sections for details.
Infinite-length Operation with Simple Absolute Infinite Axis Position Management (page 8-15)

 Bit A: SERVOPACK Parameter Auto-Write SVC/SVC32

Enable or disable automatic writing Machine Controller setting parameters to the SERVOPACK parame-
ters when any of the following three triggers occur:
• MECHATROLINK communications are established.
• A setting parameter is modified.
• A motion command is executed.
0: Enabled (default).
1: Disabled.
Refer to the following section for details.
11.7 Automatically Updated Parameters (page 11-33)

 Bit B: User-specified SERVOPACK Parameter Auto-Write SVC/SVC32

Motion Parameters
Enable or disable writing to the SERVOPACK parameter that is set in fixed parameter No. 44 (User-spec-
ified SERVOPACK Parameter Number).
0: Disabled (default).
1: Enabled.

 Bit C: Software Limit Parameter Selection SVC/SVC32 4

Select whether the software limit is set in a fixed parameter or in a setting parameter.
0: Fixed parameter (default).
1: Setting parameter.
Refer to the following section for details on the software limits.
11.3 Software Limits (page 11-9)

4-33
 4.4 Motion Parameter Details
Fixed Parameter Details

 Bit D: Torque Base Unit of SERVOPACK SVC/SVC32

This parameter specifies the setting method for common parameter No. 48 (Torque Base Unit).
0: Set by user (default)
Use this setting to manually set common parameter No. 48 (Torque Base Unit) according to the setting
of bits C to F (Torque Unit) in OW03 setting parameter. Refer to the following section for
details.
Common Parameter No. 48 (page 4-99)
1: Set by system
You can use this parameter only for the following SERVOPACKs with MECHATROLINK-III Com-
munications References.
• SGDV-2
• SGD7S-20
• SGD7W-20
This setting is used only when automatically setting common parameter No. 48 (Torque Base Unit).
The Machine Controller will automatically set common parameter No. 48 to -4. Common parameter
No. 48 is automatically set at the following times.
• When a MECHATROLINK-III communications connection is established
• When the network (bit C in OW00) or communications (bit E in OW00) are reset
• When the power supply is turned OFF and ON again after saving the data to flash memory

4-34
 4.4 Motion Parameter Details
Fixed Parameter Details

Function Selection Flags 2

 No. 2: Function Selection Flags 2
No. Name Setting Range Setting Unit Default
2 Function Selection Flags 2 − − 0000 hex

 Bit 0: Mask Communications Error Detection SVC/SVC32

You can set this parameter to ignore any MECHATROLINK communications errors that are detected in
the Machine Controller.
0: Disabled (default).
1: Enabled.

 Bit 1: Mask Watchdog Error Detection SVC/SVC32

You can set this parameter to ignore any MECHATROLINK watchdog timer errors that are detected in the
Machine Controller.
0: Disabled (default).
1: Enabled.

 Bit 5: Finite-length Multiturn Limit Setting Disagreement Detection Mask SVC/SVC32

Use this bit to specify whether or not to detect a multiturn limit setting disagreement during finite-length
operation.
0: Do not detect (default).
1: Detect.

Motion Parameters
Reference Unit Selection
 No. 4: Reference Unit Selection SVC/SVC32 SVR/SVR32

Set the reference unit.

The reference unit is determined by this parameter and fixed parameter No. 5 (Number of Digits Below
Decimal Point). Refer to the following section for details on reference units. 4
Reference Unit (page 5-2)

No. Name Setting Range Setting Unit Default

4 Reference Unit Selection 0 to 4 − 0

0: Pulses
1: mm
2: Degrees
3: Inches
4: μm
Setting Precautions
• For linear motors, you can use 0 (pulses), 1 (mm), and 4 (μm). If 2 (degrees) or 3 (inches) is selected, the
selected unit is converted to mm.
• If 0 (pulse) is selected, the electronic gear ratio that is set in fixed parameter No. 8 (Servomotor Gear
Ratio Term) and fixed parameter No. 9 (Machine Gear Ratio Term) is disabled.

4-35
 4.4 Motion Parameter Details
Fixed Parameter Details

 No. 5: Number of Digits Below Decimal Point SVC/SVC32 SVR/SVR32

Set the number of digits below the decimal point in reference units.
The minimum reference unit is determined by this parameter and fixed parameter No. 4 (Reference Unit
Selection). Refer to the following section for details on reference units.
Reference Unit (page 5-2)

No. Name Setting Range Setting Unit Default

Number of Digits Below Deci-
5 0 to 5 − 3
mal Point

Example When the Reference Unit Selection parameter is set to mm and the Number of Digits Below
Decimal Point parameter is set to 3, a reference unit of 1 will be 0.001 mm.

Setting Precautions
This parameter is not used if fixed parameter No. 4 (Reference Unit Selection) is set to 0 (Pulses).

 No. 6: Travel Distance per Machine Rotation (Rotary Motor)

SVC/SVC32 SVR/SVR32

Specify the amount of travel in the load in reference units for each turn of the load axis.
Refer to the following section for details.
Electronic Gear (page 5-3)

No. Name Setting Range Setting Unit Default

Travel Distance per Machine
6
Rotation 1 to 231−1 Reference units 10,000

 No. 6: Linear Scale Pitch (Linear Motor) SVC/SVC32 SVR/SVR32

Set the linear scale pitch that is used for linear motor position detection.
No. Name Setting Range Setting Unit Default
6 Linear Scale Pitch 1 to 231−1 Reference units 10,000

Setting Precautions
If fixed parameter No. 4 (Reference Unit Selection) is set to 0 (Pulses), set the scale pitch in μm or nm.

4-36
 4.4 Motion Parameter Details
Fixed Parameter Details

 No. 8: Servomotor Gear Ratio Term and No. 9: Machine Gear Ratio Term
SVC/SVC32 SVR/SVR32

Set the gear ratio between the motor and the load.
The following two values are set for a configuration in which the load axis turns n times in response to m
turns of the motor axis.
• Servomotor gear ratio term = m
• Machine gear ratio term = n
Refer to the following section for details.
Electronic Gear (page 5-3)

No. Name Setting Range Setting Unit Default

8 Servomotor Gear Ratio Term 1 to 65,535 revolutions 1
9 Machine Gear Ratio Term 1 to 65,535 revolutions 1

Setting Precautions
• This parameter is not used if fixed parameter No. 4 (Reference Unit Selection) is set to 0 (Pulses).
• This parameter is not valid for linear motors.

Infinite-length Axis Reset Position

 No. 10: Infinite-length Axis Reset Position (POSMAX) SVC/SVC32 SVR/SVR32

Set the reset position for an infinite-length axis.

This parameter is valid when bit 0 (Axis Selection) in fixed parameter No. 1 is set to 1 (Infinite-length
axis). The position information for infinite-length axes is controlled in the range from 0 to POSMAX.
No. Name Setting Range Setting Unit Default
Infinite-length Axis Reset Posi-

Motion Parameters
10
tion 1 to 231−1 Reference units 360,000

POSMAX
Position

Positive Negative

0 4

4-37
 4.4 Motion Parameter Details
Fixed Parameter Details

Software Limits

 No. 12: Positive Software Limit SVC/SVC32

Set the position to detect the software limit in the positive direction for the Machine Controller.
No. Name Setting Range Setting Unit Default
12 Positive Software Limit 31 31 Reference units 31
−2 to 2 −1 2 −1

Setting Precautions
• If an axis attempts to move in the positive direction past this position, a positive software limit alarm
occurs and bit 3 in the IL04 monitor parameter changes to 1.
• This parameter is valid when bit 1 (Enable Positive Software Limit) in fixed parameter No. 1 is set to 1
(Enabled).
• The software limit is enabled only after bit 5 (Zero Point Return/Setting Completed) in the IW0C
monitor parameter changes to 1 (Completed). Refer to the following section for details.
11.3 Software Limits (page 11-9)

 No. 14: Negative Software Limit SVC/SVC32

Set the position to detect the software limit in the negative direction for the Machine Controller.
No. Name Setting Range Setting Unit Default
14 Negative Software Limit 31 31 Reference units 31
−2 to 2 −1 −2

Setting Precautions
• If an axis attempts to move in the negative direction past this position, a negative software limit alarm
occurs and bit 4 in the IL04 monitor parameter changes to 1.
• This parameter is valid when bit 2 (Enable Negative Software Limit) in fixed parameter No. 1 is set to 1
(Enabled).
• The software limit is enabled only after bit 5 (Zero Point Return/Setting Completed) in the IW0C
monitor parameter changes to 1 (Completed). Refer to the following section for details.
11.3 Software Limits (page 11-9)

 Overview of Software Limits

Machine movement range

Negative Positive
software limit software limit

No. 1: Function Selection Flags 1 No. 1: Function Selection Flags 1

Bit 2 0: Disabled Bit 1 0: Disabled
1: Enabled 1: Enabled

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 4.4 Motion Parameter Details
Fixed Parameter Details

SERVOPACK Settings

 No. 29: Motor Type Selection SVC/SVC32 SVR/SVR32

Select the motor type to use.

No. Name Setting Range Setting Unit Default
29 Motor Type Selection 0, 1 − 0

0: Rotary motor
1: Linear motor

 No. 30: Encoder Selection SVC/SVC32

Set the encoder type to use.

No. Name Setting Range Setting Unit Default
30 Encoder Selection 0 to 2 − 0

0: Incremental encoder.
1: Absolute encoder.
2: Absolute encoder used as incremental encoder.
3: Reserved for system.
Setting Precautions
For linear motors, set the encoder type that matches the linear scale and SERVOPACK settings.

Encoder Settings

Motion Parameters
 No. 34: Rated Motor Speed (Rotary Motor) SVC/SVC32 SVR/SVR32

Set the rated motor speed in revolutions per minute.

No. Name Setting Range Setting Unit Default
Rated Motor Speed (Rotary
34
Motor)
1 to 100,000 min-1 3,000

Setting Precautions 4
Set this parameter based on the specifications of the motor.

4-39
 4.4 Motion Parameter Details
Fixed Parameter Details

 No. 34: Rated Speed (Linear Motor) SVC/SVC32 SVR/SVR32

Set the rated speed.

No. Name Setting Range Setting Unit Default
0.1 m/s,
34 Rated Speed (Linear Motor) 1 to 100,000 3,000
0.1 mm/s

Setting Precautions
• Set this parameter according to the specifications of the linear motor.
• When fixed parameter No. 4 (Reference Unit Selection) is set to 0 (Pulses), the setting unit is either 0.1
m/s or 0.1 mm/s.
Use 0.1 m/s for the rated speed unit when the linear scale pitch is set in μm.
Use 0.1 mm/s for the rated speed unit when the linear scale pitch is set in nm.
• When fixed parameter No. 4 (Reference Unit Selection) is set to 1 (mm), the setting unit is 0.1 m/s.
• When fixed parameter No. 4 (Reference Unit Selection) is set to 4 (μm), the setting unit is 0.1 mm/s.
Refer to the following section for details on the linear scale.
Linear Scale Pitch and Rated Speed (page 5-16)

 No. 36: Number of Pulses Per Motor Rotation (Rotary Motor)

SVC/SVC32 SVR/SVR32

Set the number of feedback pulses per motor rotation.

No. Name Setting Range Setting Unit Default
Number of Pulses Per Motor
36
Rotation (Rotary Motor) 1 to 231−1 pulse 65,536

Setting Precautions
Set this parameter based on the specifications of the motor. If you are using a Σ-7-series SERVOPACK,
refer to the following section and set the number of pulses per motor rotation for a Rotary Motor.
11.8 Precautions When Using Σ-7-series SERVOPACKs (page 11-39)

Example For a 16-bit encoder, set 216 = 65,536.

 No. 36: Number of Pulses Per Linear Scale Pitch (Linear Motor)
SVC/SVC32 SVR/SVR32

Set the number of pulses that is equivalent to the value that is set for fixed parameter No. 6 (Linear Scale
Pitch).
No. Name Setting Range Setting Unit Default
Number of Pulses Per Linear pulses/linear scale
36
Scale Pitch (Linear Motor) 1 to 231−1 pitch
65,536

Setting Precautions
Set this parameter according to the specifications of the linear scale.

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 4.4 Motion Parameter Details
Fixed Parameter Details

 No. 38: Maximum Number of Absolute Encoder Rotations SVC/SVC32

Set the maximum number of rotations that the absolute encoder can manage. This parameter is used to
manage position information when an absolute encoder is used for an infinite-length axis.
No. Name Setting Range Setting Unit Default
Maximum Number of Absolute
38
Encoder Rotations 0 to 231−1 Revolutions 65,534

Setting Precautions
• Set this parameter to match the settings for the encoder.
• Set this parameter to match the value set for the SERVOPACK multi-turn limit.
Example For infinite-length axes (i.e., when bit 0 in fixed parameter No. 1 is set to 1), set this parameter to
any value less than or equal to 65,534 (the same value as Pn205).

Fixed Parameter No. 38 and Fixed Parameter No. 38 and

SERVOPACK Parameter Pn205 = 65,535 SERVOPACK Parameter Pn205 ≠ 65,535
+32767 Value of Pn205
Multi-turn Multi-turn
Positive Negative Positive Negative
Data Number of Data
revolutions
0

0
−32768 Number of
revolutions

 No. 42: Feedback Speed Movement Averaging Time Constant

SVC/SVC32 SVR/SVR32

Set the moving average time constant for the feedback speed. The IL40 monitor parameter (Feed-
back Speed) contains the value that is determined by the time constant in this parameter and the unit-con-

Motion Parameters
verted difference between feedback positions for each high-speed scan.
No. Name Setting Range Setting Unit Default
Feedback Speed Movement
42 0 to 32 ms 10
Averaging Time Constant

 No. 44: User-specified SERVOPACK Parameter Number SVC/SVC32

4
Specify the SERVOPACK parameter number (the  in Pn) that is to be applied automatically.
The value set for the OL70 setting parameter (User-specified SERVOPACK Parameter Set Value) is
automatically written to the SERVOPACK parameter that is set in this parameter.
No. Name Setting Range Setting Unit Default
User-specified SERVOPACK
44 0 to 65,535 0 0
Parameter Number

Setting Precautions
This parameter is valid when bit B (User-specified SERVOPACK Parameter Auto-Write) in fixed parame-
ter No. 1 is set to 1 (Enabled).

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 4.4 Motion Parameter Details
Setting Parameter Details

 No. 45: User-specified SERVOPACK Parameter Size SVC/SVC32

Set the data size of the SERVOPACK parameter that is specified in fixed parameter No. 44 (User-specified
SERVOPACK Parameter Number).
No. Name Setting Range Setting Unit Default
User-specified SERVOPACK
45 1 to 2 word 1
Parameter Size

Setting Parameter Details

This section provides details on each of the setting parameters.

Information • Refer to the following section for a list of the setting parameters.
Setting Parameter Table (page 4-11)

• “OW00” indicates the first output register address plus 00. Refer to the following section
for the procedure to determine the first address of the output registers.
4.1 Motion Parameter Register Addresses (page 4-2)

Operation Command Settings

 OW00: Operation Command Settings

Register Setting
Name Setting Unit Default Control mode
Address Range
Position Phase
OW00 Operation Command Settings − − 0000 hex
Speed Torque

 Bit 0: Servo ON SVC/SVC32 SVR/SVR32

Use this bit to turn the power to the Servomotor ON or OFF.

0: Servo OFF (default).
1: Servo ON.

 Bit 1: Machine Lock SVC/SVC32

Use this bit to set the Machine Lock Mode.

0: Machine lock mode released (default).
1: Machine lock mode.
Setting Precautions
• When the machine is locked, the axis does not move and only the IL10 monitor parameter
(Machine Coordinate System Calculated Position (CPOS)) is updated.
• The Machine Lock Mode can be set or released only after all pulses have been distributed.
• The Machine Lock Mode cannot be set or released during speed or torque control.

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 4.4 Motion Parameter Details
Setting Parameter Details

 Bit 4: Latch Detection Request SVC/SVC32

When this bit is set to 1, the position at the moment the latch signal turns ON is reported in the IL18
monitor parameter (Machine Coordinate System Latch Position (LPOS)).
When the latch is completed, bit 2 (Latch Completed) in the IW0C monitor parameter changes to 1
(Completed).
0: Latch detection request OFF (default).
1: Latch detection request ON.
Setting Precautions
• To detect the latch again, reset this bit to 0 and then set to 1 again.
• Set bits 0 to 3 (Latch Detection Signal Selection) in the OW04 setting parameter to select the sig-
nal to use as the latch signal.

 Bit 6: Number of POSMAX Turns Preset Request SVC/SVC32 SVR/SVR32

Set this bit to 1 to preset the IL1E monitor parameter (Number of POSMAX Turns) to the value set
for the OL4C setting parameter (Number of POSMAX Turns Preset Data).
0: Number of POSMAX turns preset request OFF (default).
1: Number of POSMAX turns preset request ON.
Setting Precautions
Always set this parameter to 0 for linear motors.

 Bit 7: Absolute Infinite-length Position Information Load Request SVC/SVC32

When an infinite-length axis is used with an absolute encoder, this bit can be set to 1 to reset the position
information with the encoder and pulse positions that were set when the power was last turned OFF.
When processing is completed, bit 8 (Absolute Infinite-length Position Information Load Completed) in

Motion Parameters
the IW0C monitor parameter changes to 1 (Completed).
0: Absolute infinite-length position information load request OFF (default).
1: Absolute infinite-length position information load request ON.
Setting Precautions
• Always set this parameter to 0 for linear motors.
• Refer to the following section for details on how to use this bit. 4
Turning ON the Power after Setting the Zero Point in the Machine Coordinate System (page 8-19)

 Bit 8: Positive External Torque/Force Input SVC/SVC32

Set this bit to 1 to limit the torque by the value set in the SERVOPACK parameters.
The setting of this parameter is applied to the reference to the SERVOPACK when the servo is ON unless
one of the following motion commands (OW08) is being executed.
• Monitor Alarms (= 19)
• Monitor Alarm History (= 20)
• Clear Alarm History (= 21)
• Read Memory (= 35)
• Write Memory (= 36)
• Read Non-volatile Memory (= 37)
• Write Non-volatile Memory (= 38)

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 4.4 Motion Parameter Details
Setting Parameter Details

0: Positive external torque/force input OFF (default).

1: Positive external torque/force input ON.

 Bit 9: Negative External Torque/Force Input SVC/SVC32

Set this bit to 1 to limit the torque by the value set in the SERVOPACK parameters.
The setting of this parameter is applied to the reference to the SERVOPACK whenever the servo is ON
unless one of the following motion commands (OW08) is being executed.
• Monitor Alarms (= 19)
• Monitor Alarm History (= 20)
• Clear Alarm History (= 21)
• Read Memory (= 35)
• Write Memory (= 36)
• Read Non-volatile Memory (= 37)
• Write Non-volatile Memory (= 38)
0: Negative external torque/force input OFF (default).
1: Negative external torque/force input ON.

 Bit B: Reset Integration SVC/SVC32

Set this bit to 1 to reset the integration term in the position loop in the SERVOPACK.
This setting is enabled when a movement motion command or a command to turn ON the Servomotor’s
power is executed.
0: Reset integration OFF (default).
1: Reset integration ON.

 Bit C: Reset Network SVC/SVC32

Set this bit to 1 to reset the entire MECHATROLINK network.

0: Reset network OFF (default).
1: Reset network ON.
Setting Precautions
MECHATROLINK-III communications allows connections to a network where communications are
already in progress. In some cases, however, connection may not be possible due to conditions such as the
communications cycle and the number of slave stations that are connected. In this case, a cyclic communi-
cations initialization incomplete alarm occurs (i.e., bit 1C in IL04 changes to 1). Use this function
to reset the entire network to enable the station where the alarm occurred to rejoin the network. However,
be aware that communications with all stations, not just the one with the alarm, are disconnected and
resumed after the network is reset.

 Bit D: Latch Completed Status Clear Request SVC/SVC32

When this bit is set to 1, bit 2 (Latch Completed) in the IW0C monitor parameter changes to 0
(Latch not completed).
0: Latch completed status clear request OFF (default).
1: Latch completed status clear request ON.

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 4.4 Motion Parameter Details
Setting Parameter Details

 Bit E: Reset Communications SVC/SVC32

Set this bit to 1 to disconnect and then reestablish communications with the SERVOPACK.
0: Reset communications OFF (default).
1: Reset communications ON.
Resetting communications enables the following:
• It enables the non-volatile parameters that require the power to be turned OFF and ON again to change
the settings.
• It clears the phase-C position data that is saved in the linear scale interpolator (when using a linear scale
manufactured by Magnescale Co. Ltd.).
Communications can be reset regardless of the current communications and alarm status.
Check bit 0 (Motion Operation Ready) in the IW00 monitor parameter to determine when the com-
munications reset is completed.

OW00 bit E
Reset
Communications

IW00 bit 0
Motion Operation
Ready

This time is not constant.

Setting Precautions
Do not reset communications when an axis is in motion due to a motion command. A sudden stop of the
axis may affect machine operation or may cause damage to the machine.

 Bit F: Clear Alarm SVC/SVC32 SVR/SVR32

Set this bit to 1 to clear an alarm.

Motion Parameters
If a communications error occurs, communications can be reestablished by clearing the alarm.
0: Clear Alarm OFF (default).
1: Clear Alarm ON.
Setting Precautions
• Bit 2 (Fixed Parameter Error) in the IL02 monitor parameter cannot be cleared with the Clear
Alarm Bit. In this case, eliminate the cause of the alarm to clear it. 4
• Do not execute a clear alarm operation when an axis is in motion due to a motion command. Doing so
may affect axis movement.

Mode Settings 1

 OW01:Mode Settings 1
Register Setting
Name Setting Unit Default Control mode
Address Range
Position Phase
OW01 Mode Settings 1 − − 0000 hex
Speed

 Bit 0: Excessive Deviation Error Level Setting SVC/SVC32

Use this bit to set whether excessive deviation is treated as a warning or as an alarm.

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 4.4 Motion Parameter Details
Setting Parameter Details

0: Alarm (default).
The axis operation stops when excessive deviation is detected.
1: Warning.
The axis operation continues even if excessive deviation is detected.
Related Parameters
• OL22 (Excessive Deviation Detection Value)
• IL02 bit 0 (Excessive Deviation Warning)
• IL04 bit 9 (Excessive Deviation Alarm)

 Bit 3: Speed Loop P/PI Switch SVC/SVC32

Use this bit to set the SERVOPACK’s speed loop to PI control or P control.
This setting is enabled when a movement motion command or a command to turn ON the Servomotor’s
power is executed.
0: PI control (default).
1: P control.

 Bit 4: Switch Gain SVC/SVC32

Set this bit to 1 to switch the gains to the values that are set for Gain Settings 2 in the SERVOPACK
parameters.
This setting is enabled when a movement motion command or a command to turn ON the Servomotor’s
power is executed.
0: Switch gain OFF (default).
1: Switch gain ON.

 Bit 5: Switch Gain 2 (under Development) SVC/SVC32

In combination with bit 4, you can switch between four different gains.
0: Switch gain OFF (default).
1: Switch gain ON.

Mode Settings 2

 OW02: Mode Settings 2

Register Setting
Name Setting Unit Default Control mode
Address Range
Position Phase
OW02 Mode Settings 2 − − 0000 hex
Speed Torque

 Bits 8 to F: Stop Mode Selection SVC/SVC32

Set the stop method for an axis that is in motion for a movement motion command.
0: Stop according to the Linear Deceleration Rate/Deceleration Time Constant parameter (default).
1: Stop immediately.

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 4.4 Motion Parameter Details
Setting Parameter Details

Function Settings 1

 OW03: Function Settings 1

Register Setting
Name Setting Unit Default Control mode
Address Range
Position Phase
OW03 Function Settings 1 − − 0011 hex
Speed Torque

 Bits 0 to 3: Speed Unit Selection SVC/SVC32 SVR/SVR32

Set the unit for speed references.

0: Reference units/s
1: 10n reference units/min (“n” is set in fixed parameter No. 5 (Number of Digits Below Decimal Point).)
2: Percentage of rated speed (1 = 0.01%).
3: Percentage of rated speed (1 = 0.0001%).
Setting Precautions
Refer to the following section for setting examples that combine this parameter with different numbers of
digits below the decimal point.
Speed Reference (page 5-9)

 Bits 4 to 7: Acceleration/Deceleration Rate Unit Selection SVC/SVC32 SVR/SVR32

Set whether to specify accelerations and decelerations as acceleration/deceleration rates or acceleration/

deceleration time constants.
0: Reference units/s2.
1: ms (default).

Motion Parameters
 Bits 8 to B: Filter Type Selection SVC/SVC32 SVR/SVR32

Set the acceleration/deceleration filter type.

The filter type changes when the CHG_FILTER (Change Filter Type) motion command is executed.
0: No filter (default).
4
1: Exponential acceleration/deceleration filter.
2: Moving average filter.
Setting Precautions
When a filter is used, set the filter type in this parameter and execute the CHG_FILTER motion command
to apply the change. Refer to the following section for details.
CHG_FILTER (Change Filter Type) (page 6-70)

 Bits C to F: Torque Unit Selection SVC/SVC32 SVR/SVR32

Set the unit for torque references.

0: Percentage of rated torque (1 = 0.01%).
1: Percentage of rated torque (1 = 0.0001%).

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 4.4 Motion Parameter Details
Setting Parameter Details

Function Settings 2

 OW04: Function Settings 2

Register Setting
Name Setting Unit Default Control mode
Address Range
Position Phase
OW04 Function Settings 2 − − 0033 hex
Speed Torque

 Bits 0 to 3: Latch Detection Signal Selection SVC/SVC32

Set the latch detection signal. The latch signal is input to the SERVOPACK.
This setting is valid when the LATCH motion command is executed or when a modal latch is used.
0: −
1: −
2: Phase-C pulse
3: /EXT1 (default)
4: /EXT2
5: /EXT3

 Bits 4 to 7: External Positioning Signal Setting SVC/SVC32

Set the external signal to use for external positioning.

0: −
1: −
2: Phase-C pulse
3: /EXT1 (default)
4: /EXT2
5: /EXT3

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 4.4 Motion Parameter Details
Setting Parameter Details

Function Settings 3

 OW05: Function Settings 3

Register Setting
Name Setting Unit Default Control mode
Address Range
OW05 Function Settings 3 − − 0000 hex Position Phase

 Bit 1: Disable Phase Reference Calculation SVC/SVC32

Use this bit to enable or disable phase reference calculations when phase control commands are executed.
0: Enabled (default).
1: Disabled.
Setting Precautions
• Set this bit to 0 (Enabled) when an electronic shaft is used.
• Set this bit to 1 (Disabled) when an electronic cam is used.

 Bit 2: External Positioning Final Travel Distance Write Selection SVC/SVC32

This bit specifies whether or not to automatically apply the external positioning final travel distance to the
SERVOPACK during external positioning. This setting is applied at the start of execution of the EX_POS-
ING (External Positioning) and EX_FEED (Jog with External Positioning) motion commands.
0: Automatically apply (default).
The external positioning final travel distance is written to the SERVOPACK.
1: Do not automatically apply.
The external positioning final travel distance is not written to the SERVOPACK.

Motion Parameters
 Bit B: Zero Point Return Input Signal SVC/SVC32

This bit functions as the INPUT signal when the INPUT+C Pulse method or the INPUT Only method is
used for the Zero Point Return Method.
0: INPUT signal OFF (default).
1: INPUT signal ON.
4

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 4.4 Motion Parameter Details
Setting Parameter Details

M-III Vendor-specific Servo Command Output Signal

 OW06: M-III Vendor-specific Servo Command Output Signal

SVC/SVC32

When the profile is set to Standard Servo, this parameter is used for the SVCMD_IO vendor-specific I/O
settings. The settings are output to bytes 10 and 11 of the MECHATROLINK Servo command.
Register Setting
Name Setting Unit Default Control mode
Address Range
M-III Vendor-specific Servo Position Phase
OW06 − − 0000 hex
Command Output Signal Speed Torque

You can use the following functions when the SGDV-21 or SGDV-25 is connected.
Refer to the following manual for details.
Σ-V Series User’s Manual MECHATROLINK-III Standard Servo Profile Commands (Manual No.: SIEP S800000 63)

 High-speed Acceleration/Deceleration Parameter Bank Switching

You can switch between different banks of acceleration/deceleration parameters for positioning.
You can switch parameter banks by using a combination of bits.
Bits 0 to 3: Bank Selection

 I/O Signal Output Control

I/O signal output control allows you to control signal outputs S01 to S03 by setting the Pn50E, Pn50F, and
Pn510 SERVOPACK parameters to 0. The relationship between these bits and the signal outputs are as
follows:
Bit 4: SO1
Bit 5: SO2
Bit 6: SO3

All bits other than those listed above (bits 7 to F) are reserved for system use. Do not set these other
bits.
Note

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 4.4 Motion Parameter Details
Setting Parameter Details

Motion Commands

 OW08: Motion Commands

Set the motion command.
Register Setting
Name Setting Unit Default Control mode
Address Range
Position Phase
OW08 Motion Commands 0 to 38 − 0
Speed Torque

0: NOP (No Operation) SVC/SVC32 SVR/SVR32

1: POSING (Positioning) SVC/SVC32 SVR/SVR32

2: EX_POSING (External Positioning) SVC/SVC32 SVR/SVR32

3: ZRET (Zero Point Return) SVC/SVC32 SVR/SVR32

4: INTERPOLATE (Interpolation) SVC/SVC32 SVR/SVR32

5: ENDOF_INTERPOLATE (Last Interpolation Segment) (Reserved for system use.)

SVC/SVC32 SVR/SVR32

6: LATCH (Interpolate with Latch Input) SVC/SVC32 SVR/SVR32

7: FEED (Jog) SVC/SVC32 SVR/SVR32

8: STEP (STEP Operation) SVC/SVC32 SVR/SVR32

9: ZSET (Set Zero Point) SVC/SVC32 SVR/SVR32

10: ACC (Change Acceleration Time) SVC/SVC32 SVR/SVR32

11: DCC (Change Deceleration Time) SVC/SVC32 SVR/SVR32

12: SCC (Change Filter Time Constant) SVC/SVC32 SVR/SVR32

13: CHG_FILTER (Change Filter Type)

Motion Parameters
SVC/SVC32 SVR/SVR32

14: KVS (Change Speed Loop Gain) SVC/SVC32

15: KPS (Change Position Loop Gain) SVC/SVC32

16: KFS (Change Feedforward) SVC/SVC32

17: PRM_RD (Read SERVOPACK Parameter) SVC/SVC32

18: PRM_WR (Write SERVOPACK Parameter) SVC/SVC32

4
19: ALM_MON (Monitor Alarms) SVC/SVC32

20: ALM_HIST (Monitor Alarm History) SVC/SVC32

21: ALMHIST_CLR (Clear Alarm History) SVC/SVC32

22: Reserved for system.

23: VELO (Issue Speed Reference) SVC/SVC32 SVR/SVR32

24: TRQ (Issue Torque/Force Reference) SVC/SVC32 SVR/SVR32

25: PHASE (Issue Phase Reference) SVC/SVC32 SVR/SVR32

26: KIS (Change Position Loop Integral Time Constant) SVC/SVC32

27: PPRM_WR (Write Non-volatile Parameter) SVC/SVC32

28 to 33: Reserved for system.

34: EX_FEED (Jog with External Positioning) SVC/SVC32

35: MEM_RD (Read Memory) SVC/SVC32

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 4.4 Motion Parameter Details
Setting Parameter Details

36: MEM_WR (Write Memory) SVC/SVC32

37: PMEM_RD (Read Non-volatile Memory) SVC/SVC32

38: PMEM_WR (Write Non-volatile Memory) SVC/SVC32

Refer to the following chapter for details on these commands.

Chapter 6 Motion Commands

Motion Command Control Flags

 OW09: Motion Command Control Flags

Register Setting
Name Setting Unit Default Control mode
Address Range
Position Phase
OW09 Motion Command Control Flags − − 0000 hex
Speed Torque

 Bit 0: Hold Command SVC/SVC32 SVR/SVR32

The axis decelerates to a stop if this bit is set to 1 while an axis is in motion for a POSING (Positioning),
EX_POSING (External Positioning), STEP (STEP Operation), or VELO (Issue Speed Reference) motion
command.
The axis remains held as long as this bit is 1. When the bit changes to 0, the hold on the axis is released
and the axis begins the operation again. When the hold is completed, bit 1 (Command Hold Completed) in
the IW09 monitor parameter changes to 1.
0: Hold Command OFF (default).
1: Hold Command ON.

 Bit 1: Cancel Command SVC/SVC32 SVR/SVR32

The axis decelerates to a stop and cancels all remaining movement if this bit is set to 1 while an axis is in
motion for a POSING (Positioning), EX_POSING (External Positioning), ZRET (Zero Point Return),
FEED (Jog), STEP (STEP Operation), VELO (Issue Speed Reference), or TRQ (Issue Torque/Force Ref-
erence) motion command.
0: Cancel Command OFF (default).
1: Cancel Command ON.

 Bit 2: Travel Direction for JOG/STEP SVC/SVC32 SVR/SVR32

Specify the travel direction for the FEED (Jog), STEP (STEP Operation), and EX_FEED (Jog with Exter-
nal Positioning) motion commands.
0: Forward (default).
1: Reverse.

 Bit 3: Zero Point Return Direction Selection SVC/SVC32

Specify the travel direction for the ZRET (Zero Point Return) motion command (valid for DEC1+Phase-C
Pulse, ZERO, DEC1+ZERO, and Phase-C Pulse).
0: Reverse (default).
1: Forward.

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 4.4 Motion Parameter Details
Setting Parameter Details

 Bit 4: Latch Zone Enable SVC/SVC32

Use this bit to enable or disable the area where the external signal is valid (the latch zone) for the EX_-
POSING (External Positioning) motion command.
0: Disabled (default).
1: Enabled.
Setting Precautions
Always set this bit to 0 (Disabled) when a latch motion command other than the EX_POSING command
(i.e., LATCH or ZRET) is executed.
Related Parameters
• OL2A setting parameter (Latch Zone Lower Limit Setting)
• OL2C setting parameter (Latch Zone Upper Limit Setting)

 Bit 5: Position Reference Type SVC/SVC32 SVR/SVR32

Set the value of the OL1C setting parameter (Position Reference Setting) to either 0 (Incremental
value addition method) or 1 (Absolute value specification method).
0: Incremental value addition method (default).
This method adds the amount to move to the current position reference value and then issues the refer-
ence.
1: Absolute value specification method.
This method is used to set an absolute position.

 Bit 6: Electronic Cam Phase Compensation Type SVC/SVC32

Set the reference method for the OL28 setting parameter (Phase Compensation Setting). This
parameter is valid when the system is used as an electronic cam (i.e., when bit 1 in OW05 is 1).

Motion Parameters
0: Incremental value addition method (default).
1: Absolute value specification method.
Electronic Cam Precautions (When Bit 1 in OW05 Is 1)
• If this parameter is set to 1 (Absolute value specification method), implement measures to prevent
drastic changes in the reference position before you use phase control. If not, the axis may move
abruptly, which is extremely dangerous.
4
Example Set the OL28 setting parameter (Phase Compensation Setting) to the same value as that of
the IL14 monitor parameter (32-bit DPOS).

• This parameter can be changed at any time, but do not change this setting during phase control. The axis
may move abruptly, which is extremely dangerous.
Electronic Shaft Precautions (When Bit 1 in OW05 Is 0)
• The increment that is set in the OL28 setting parameter (Phase Compensation Setting) (i.e., the
difference between the previous high-speed scan and the current high-speed scan) is added to the target
position regardless of the setting of this bit.
• The treatment of the OL28 setting parameter (Phase Compensation Setting) is different for the
SVA-01 Module and for the SVC-01 Module. For the SVA Module, the value of OL28 is simply
added to the target position.

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 4.4 Motion Parameter Details
Setting Parameter Details

 Bit 8: SERVOPACK Parameter Access Selection SVC/SVC32

Set whether the common parameters or the vendor-specific parameters for each vendor are used for the
commands.
0: Vendor-specific parameters (default).
1: Common parameters.

Motion Subcommands

 OW0A: Motion Subcommands

Set the motion subcommand that is used with a motion command.
Register Setting
Name Setting Unit Default Control mode
Address Range
Position Phase
OW0A Motion Subcommands 0 to 6 − 0
Speed Torque

0: NOP (No Operation) SVC/SVC32 SVR/SVR32

1: PRM_RD (Read SERVOPACK Parameter) SVC/SVC32

2: PRM_WR (Write SERVOPACK Parameter) SVC/SVC32

3: INF_RD (Read Device Information) SVC/SVC32

4: SMON (Monitor Status) SVC/SVC32

5: FIXPRM_RD (Read Fixed Parameter) SVC/SVC32 SVR/SVR32

6: FIXPRM_CHG (Change Fixed Parameter) SVC/SVC32

Torque Reference

 OL0C: Torque/Force Reference Setting or Torque Feedforward Com-

pensation SVC/SVC32 SVR/SVR32
This meaning of this subcommand depends on the motion command.
• When the TRQ (Issue Torque/Force Reference) motion command is executed, set the torque reference.
Refer to the following section for details.
TRQ (Issue Torque/Force Reference) (page 6-95)
• When the INTERPOLATE (Interpolation), VELO (Issue Speed Reference), or PHASE (Issue Phase
Reference) motion command is executed, set the torque feedforward compensation.
Register Setting
Name Setting Unit Default Control mode
Address Range
The unit that
Torque/Force Reference Setting is set in the Phase
Position
OL0C or Torque Feedforward Compen- -231 to 231-1 Torque Unit 0
Speed Torque
sation Selection bits
is used.

Setting Precautions
The unit that is set in the Torque Unit Selection bits (OW03 bits C to F) is used for this parameter.

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 4.4 Motion Parameter Details
Setting Parameter Details

 OW0E: Speed Limit for Torque/Force Reference SVC/SVC32

Set the speed limit as a percentage of the rated speed when the TRQ (Issue Torque/Force Reference)
motion command is executed.
Register Setting
Name Setting Unit Default Control mode
Address Range
Speed Limit for Torque/Force −32,768 to
OW0E 0.01% 15,000 Torque
Reference 32,767

Torque control is used to control the Servomotor to output the specified torque. It does not control the
motor speed. Therefore, when an excessive reference torque is set relative to the load torque of the
machine, the machine’s torque is overpowered by the torque reference and the motor speed rapidly
increases.
The torque reference speed limit serves to limit the Servomotor speed during torque control to protect the
machine.
No Speed Limit Speed Limit Specified
High acceleration
Speed may damage the Speed
machine.
Maximum speed Maximum speed
Safe because of
the speed limit.
Speed limit

t t
0 0

Setting Precautions
This parameter setting is used when the TRQ command is executed.
Related Parameters
• SERVOPACK parameter Pn002.1

Motion Parameters
• SERVOPACK parameter Pn407
• SERVOPACK parameter Pn408.1
• SERVOPACK parameter Pn300

Speed Reference Setting

4
 OL10: Speed Reference Setting SVC/SVC32 SVR/SVR32

Set the speed reference.

Register Setting
Name Setting Unit Default Control mode
Address Range
The unit that
is set in the Phase
Position
OL10 Speed Reference Setting −231 to 231−1 Speed Unit 3,000
Speed
Selection bits
is used.

This parameter is used by the following motion commands.

1: POSING (Positioning)
2: EX_POSING (External Positioning)
3: ZRET (Zero Point Return)
7: FEED (Jog)

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 4.4 Motion Parameter Details
Setting Parameter Details

8: STEP (STEP Operation)

23: VELO (Issue Speed Reference)
25: PHASE (Issue Phase Reference)
34: EX_FEED (Jog with External Positioning)
Refer to the following chapter for details on these commands.
Chapter 6 Motion Commands
Setting Precautions
The unit that is set in the Speed Unit Selection bits (OW03 bits 0 to 3) is used for this parameter.

 OW12: Speed Limit SVC/SVC32

Set the upper speed limit as a percentage of the rated speed. This value is an absolute value. It is used in
both the positive and negative directions.
The speed limit that is set is the maximum speed for movement motion command.
Register Setting
Name Setting Unit Default Control mode
Address Range
Position Phase
OW12 Speed Limit 0 to 32,767 0.01% 0
Speed

Speed Limit

Speed limit
≠0
Speed reference Speed reference
set value output value

=0

−1 × Speed limit

Setting Precautions
• The speed limit can be changed during operation. However, if an incorrect setting is made during opera-
tion, it may affect the movement of the machine.
• If this parameter is set to 0, no speed limit check is performed.
• If a value outside the valid setting range is set for the speed limit, no limit processing is performed.
(Operation is the same as for a set value of 0.)
• If a speed reference is issued that exceeds the set speed limit when any of the following motion com-
mands is executed, a reference is issued to the SERVOPACK with the value of the speed limit. In this
case, the following warning also occurs.
Applicable commands: POSING, EX_POSING, ZRET, FEED, STEP, VELO, and EX_FEED
Warning: Setting Parameter Error (IL02, Bit 1)
• If a speed reference is issued that exceeds the set speed limit when any of the following motion com-
mands is executed, the following alarm occurs and the axis is stopped.
Applicable commands: INTERPOLATE, ENDOF_INTERPOLATE, LATCH, and PHASE
Alarm: Excessive Speed (IL04, Bit 8)

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 4.4 Motion Parameter Details
Setting Parameter Details

Torque/Force Limit

 OL14: Torque/Force Limit SVC/SVC32

Set the torque limit. The same value is used in both the positive and negative directions.
This setting is used when a torque limit is required at a certain time during machine operation.

Example Applications of this parameter include pressing operations to stop movement and holding work-
pieces.

Register Setting
Name Setting Unit Default Control mode
Address Range
The unit that
is set in the Phase
Position
OL14 Torque/Force Limit −231 to 231−1 Torque Unit 30,000
Speed
Selection bits
is used.

Setting Precautions
The unit that is set in the Torque Unit Selection bits (OW03 bits C to F) is used for this parameter.

Second Speed Compensation

 OL16: Second Speed Compensation SVC/SVC32 SVR/SVR32

Set the speed feedforward compensation when the INTERPOLATE (Interpolation), LATCH (Latch), or
PHASE (Issue Phase Reference) motion command is executed.
Register Setting
Name Setting Unit Default Control mode
Address Range

Motion Parameters
The unit that
is set in the
OL16 Second Speed Compensation −231 to 231−1 Speed Unit 0 Position Phase
Selection bits
is used.

Setting Precautions
• The unit that is set in the Speed Unit Selection bits (OW03 bits 0 to 3) is used for this parameter.
• The setting unit for the OW31 setting parameter (Speed Compensation) is always 0.01%. The 4
unit for this parameter, however, is set in the Speed Unit Selection bits. When this parameter is used at
the same time as OW31, speed compensation is performed twice.

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 4.4 Motion Parameter Details
Setting Parameter Details

Override

 OW18: Override SVC/SVC32

Set the percentage of the OL10 setting parameter (Speed Reference Setting) to output in increments
of 0.01%.
Register Setting
Name Setting Unit Default Control mode
Address Range
OW18 Override 0 to 32,767 0.01% 10,000 Position Speed

Setting Precautions
• The Override parameter is always enabled. If you do not want to use this parameter, keep the override
set to 10,000.
• If the override is set to 0, the output speed is 0 and the motor will not operate.
Speed reference (OL10) × Override (OW18) = Output speed
• The override can be changed during execution of a speed reference. Acceleration or deceleration occurs
immediately according to the set value.
Speed
100%

75%
50%

10000 5000 7500 10000 Time

Override set value

Position Reference Setting

 OL1C: Position Reference Setting SVC/SVC32 SVR/SVR32

Set the position reference.

Register Setting
Name Setting Unit Default Control mode
Address Range
Reference
OL1C Position Reference Setting
units −231 to 231−1 0 Position

This parameter is used by the following motion commands.

1: POSING (Positioning).
2: EX_POSING (External Positioning).
4: INTERPOLATE (Interpolation).
6: LATCH (Interpolate with Latch Input).
Refer to the following chapter for details on these commands.
Chapter 6 Motion Commands
Related Parameters
OW09 setting parameter, bit 5 (Position Reference Type)

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 4.4 Motion Parameter Details
Setting Parameter Details

Positioning Completion Width

 OL1E: Positioning Completion Width SVC/SVC32

This parameter applies the set value of this parameter to the SERVOPACK parameter.
Refer to the following section for details.
11.7 Automatically Updated Parameters (page 11-33)

Register Setting
Name Setting Unit Default Control mode
Address Range
Reference
OL1E Positioning Completion Width 0 to 65,535 100 Position Phase
units

Setting Precautions
• After all position reference pulses have been distributed for position control, bit 1 (Positioning Com-
pleted) in the IW0C monitor parameter changes to 1 (Within positioning completed range) when
the Positioning Completed signal from the SERVOPACK turns ON (i.e., when bit E in the IL28
monitor parameter changes to 1).
• Set a value that is appropriate for the machine specifications in the system. If the value is too small, a
long time will be required for positioning to be completed.
Reference Motor speed

Speed

Time
Distribution completed
Position Deviation
(IL1A) Time
Positioning Positioning Completion Width (OL1E)
Completed Signal
(IW0C, bit 1)

Motion Parameters
Related Parameters
• Fixed parameter No. 4 (Reference Unit Selection)
• Fixed parameter No. 5 (Number of Digits Below Decimal Point)
• Fixed parameter No. 6 (Travel Distance per Machine Rotation)
• Fixed parameter No. 8 (Servomotor Gear Ratio Term)
• Fixed parameter No. 9 (Machine Gear Ratio Term) 4
• OW2E setting parameter (Position Loop Gain)
• IW0C monitor parameter, bit 0 (Distribution Completed (DEN))
• IW0C monitor parameter, bit 1 (Positioning Completed (POSCOMP))

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 4.4 Motion Parameter Details
Setting Parameter Details

NEAR Signal Output Width

 OL20: NEAR Signal Output Width SVC/SVC32

Bit 3 in the IW0C monitor parameter (Near Position) changes to 1 (Within near position range)
when the absolute value of the difference between the reference position and the feedback position is
within the width that is set for this parameter.
Register Setting
Name Setting Unit Default Control mode
Address Range
Reference
OL20 NEAR Signal Output Width 0 to 65,535 0 Position Phase
units

Speed

Time
Distribution completed
NEAR Signal Output Width
Position deviation
Time
NEAR Signal
Output Width = 0
NEAR Signal
Output Width ≠ 0

Setting Precautions
• When Set to 0
When bit 0 in the IW0C monitor parameter (Distribution Completed) changes to 1 (Completed),
bit 3 in the IW0C changes to 1.
• When Not Set to 0
Bit 3 in the IW0C changes to 1 in the following case, regardless of the status of the Distribution
Completed Flag.
| (IL12) − (IL16) | ≤ OL20
IL12: Machine Coordinate System Reference Position (MPOS)
IL16: Machine Coordinate System Feedback Position (APOS)
OL20: NEAR Signal Output Width
• This parameter has no relation to the NEAR Signal Width parameter in the SERVOPACK.
Related Parameters
IW0C monitor parameter, bit 3 (Near Position)

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 4.4 Motion Parameter Details
Setting Parameter Details

Excessive Deviation Detection Value

 OL22: Excessive Deviation Detection Value SVC/SVC32

Set the value to detect an excessive deviation during position control.

Register Setting
Name Setting Unit Default Control mode
Address Range
Excessive Deviation Detection Reference
OL22
Value 0 to 231−1 units 231−1 Position Phase

Setting Precautions
Bit 9 in the IL04 monitor parameter (Excessive Deviation) changes to 1 (Excessive deviation) in the
following case.
|Position Deviation (IL1A)| > Excessive Deviation Detection Value
Excessive deviation is not detected when this parameter is set to 0.
Related Parameters
Bit 0 in the OW01 setting parameter (Excessive Deviation Error Level Setting) can be set to treat
excessive deviation errors as either warnings or alarms.
Bit 0 in OW01 = 0: Treat as an alarm (default). Axis operation stops.
Bit 0 in OW01 = 1: Treat as a warning. Axis operation continues.

Positioning Completion Check Time

 OW26: Positioning Completion Check Time SVC/SVC32

Set the time to detect a Positioning Time Exceeded error.

Motion Parameters
Register Setting
Name Setting Unit Default Control mode
Address Range
Positioning Completion Check
OW26 0 to 65,535 ms 0 Position Phase
Time

Speed
4
Time
Distribution completed
Position deviation Positioning Completion Width
Time

Positioning Time
Exceeded signal
When this time exceeds the Positioning
Completion Check Time, a Positioning Time
Exceeded alarm occurs.

Setting Precautions
• If, during position control, the IW0C monitor parameter does not change to 1 (Within positioning
completed range) even after the time that is set for this parameter is exceeded from when distribution is
completed, a Positioning Time Exceeded alarm occurs (bit 6 in IL04 changes to 1).
• If this parameter is set to 0, the above check is not performed.

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 4.4 Motion Parameter Details
Setting Parameter Details

Phase Compensation Setting

 OL28: Phase Compensation Setting SVC/SVC32

Set the phase bias in reference units to use when the PHASE (Issue Phase Reference) motion command is
executed.
Refer to the following section for details on the PHASE command.
PHASE (Issue Phase Reference) (page 6-100)

Register Setting
Name Setting Unit Default Control mode
Address Range
Reference
OL28 Phase Compensation Setting −231 to 231−1 units
0 Phase

Setting Precautions
• Use for an Electronic Shaft
Use this parameter to compensate for reference pulses in a control system without rigidity, in which
higher gain cannot be applied.
• Use for an Electronic Cam
Use this parameter as the target position for the cam pattern.

Latches

 OL2A: Latch Zone Lower Limit Setting and OL2C:

Latch Zone Upper Limit Setting SVC/SVC32
Set the zone (from the zero position to the specified position) where the latch signal is valid when the
EX_POSING (External Positioning) motion command is executed.
If bit 4 in the OW09 setting parameter (Latch Zone Enable) is set to 1 (Enabled) when the EX_-
POSING command is executed, latching is performed in the zone between OL2A and OL2C.
Register Setting
Name Setting Unit Default Control mode
Address Range
Reference
OL2A Latch Zone Lower Limit Setting −231 to 231−1 units −231 Position

Reference
OL2C Latch Zone Upper Limit Setting −231 to 231−1 units 231−1 Position

 Latch Zone Setting Conditions

The latch zone is valid if the following conditions are met.
• Bit 4 in the OW09 setting parameter (Latch Zone Enable) is set to 1 (Enabled)
and,
• OL2A setting parameter (Latch Zone Lower Limit Setting) ≠ OL2C setting parameter (Latch Zone
Upper Limit Setting)

If the above conditions are not met, the latch zone is not valid regardless of the position.
• Latch Zone Lower Limit < Latch Zone Upper Limit
− Latch zone lower limit Latch zone upper limit +

Latch zone

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 4.4 Motion Parameter Details
Setting Parameter Details

• Latch Zone Lower Limit > Latch Zone Upper Limit

− Latch zone lower limit Latch zone upper limit +

Latch zone Latch zone

 Infinite-length Axes and Latch Zones

When bit 0 in fixed parameter No. 1 (Axis Selection) is set to 1 (Infinite-length axis), the latch zone setting
is specified in a 32-bit coordinate system.
Therefore, as shown in the following figure, a multi-turn area of the value that is specified for fixed
parameter No. 10 (Infinite-length Axis Reset Position (POSMAX)) can be set as the latch zone.

POSMAX
IL10 (CPOS)
IL12 (MPOS)
IL16 (APOS)
IL18 (LPOS)
0
31
2 -1

Latch zone Latch Zone Upper

Limit Setting
IL0E (TPOS)
IL14 (DPOS) 0

Latch Zone Lower

Limit Setting

31
-2

Motion Parameters
 Precautions for Setting Latch Zones
Latch zones are implemented in a software process in the SVC or SVC32 Function Module. However, the
actual latching is performed by the SERVOPACK. Therefore, depending on the communications cycle,
reference speed, and position deviation, the actual zone may vary from the set zone. Set a latch zone that
provides some leeway.

4
Gain and Compensation

 OW2E: Position Loop Gain SVC/SVC32

This parameter determines the responsiveness of the SERVOPACK’s position loop.

Register Setting
Name Setting Unit Default Control mode
Address Range
OW2E Position Loop Gain 0 to 32,767 0.1 /s 300 Position Phase

Setting Precautions
• If the position loop gain is set to a high value, the responsiveness is high and the positioning time is
short. Set the optimum value for the machine rigidity, inertia, and type of Servomotor.
• The actual machine operation follows the settings in the SERVOPACK parameters. Refer to the
following section for details on automatically applying settings to the SERVOPACK parameters.
11.7 Automatically Updated Parameters (page 11-33)

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 4.4 Motion Parameter Details
Setting Parameter Details

• If automatic parameter application is enabled and this parameter changes, the corresponding SERVO-
PACK parameter will change automatically. If changes must be made and automatic parameter applica-
tion is not enabled, use the KPS (Change Position Loop Gain) motion command to change the
parameter.

 OW2F: Speed Loop Gain SVC/SVC32

This parameter determines the responsiveness of the SERVOPACK’s speed loop.

Register Setting
Name Setting Unit Default Control mode
Address Range
Position Phase
OW2F Speed Loop Gain 1 to 2,000 Hz 40
Speed

Setting Precautions
• The Servo system will be more stable the higher this parameter is set, as long as the value is within the
range in which the mechanical system does not oscillate.
• The actual machine operation follows the settings in the SERVOPACK parameters. Refer to the
following section for details on automatically applying settings to the SERVOPACK parameters.
11.7 Automatically Updated Parameters (page 11-33)
• If automatic parameter application is enabled and this parameter changes, the corresponding SERVO-
PACK parameter will change automatically. If changes must be made and automatic parameter applica-
tion is not enabled, use the KVS (Change Speed Loop Gain) motion command to change the parameter.

 OW30: Speed Feedforward Compensation SVC/SVC32

Use this parameter to reduce positioning time by applying feedforward compensation.

Register Setting
Name Setting Unit Default Control mode
Address Range
Speed Feedforward Compensa-
OW30 0 to 32,767 0.01% 0 Position Phase
tion

Setting Precautions
• This parameter is valid for position control.
• Always set this parameter to 0 for phase control.
• If automatic parameter application is enabled and this parameter changes, the corresponding
SERVOPACK parameter will change automatically. If changes must be made and automatic parameter
application is not enabled, use the KFS (Change Feedforward) motion command to change the
parameter.

 OW31: Speed Compensation SVC/SVC32 SVR/SVR32

Set the speed feedforward amount as a percentage of the rated speed when the INTERPOLATE (Interpo-
late), PHASE (Issue Phase Reference), or LATCH (Latch) motion command is executed.
Register Setting
Name Setting Unit Default Control mode
Address Range
−32,768 to
OW31 Speed Compensation 0.01% 0 Position Phase
32,767

Setting Precautions
• The setting unit for this parameter is always 0.01%.
• When this parameter (OW31) is used at the same time as the OL16 setting parameter (Sec-
ond Speed Compensation), speed compensation is performed twice.

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 4.4 Motion Parameter Details
Setting Parameter Details

 OW32: Position Loop Integral Time Constant SVC/SVC32

Set the position loop integral time constant. Use this parameter to improve the following precision in
applications such as electronic cams or shafts.
Register Setting
Name Setting Unit Default Control mode
Address Range
Position Loop Integral Time
OW32 0 to 32,767 ms 0 Position Phase
Constant

Setting Precautions
• The actual machine operation follows the settings in the SERVOPACK parameters. Refer to the
following section for details on automatically applying settings to the SERVOPACK parameters.
11.7 Automatically Updated Parameters (page 11-33)
• If automatic parameter application is enabled and this parameter changes, the corresponding
SERVOPACK parameter will change automatically. If changes must be made and automatic parameter
application is not enabled, use the KIS (Change Position Loop Integral Time Constant) motion
command to change the parameter.

 OW34: Speed Loop Integral Time Constant SVC/SVC32

The speed loop has an integral element to enable response to minute inputs.
Register Setting
Name Setting Unit Default Control mode
Address Range
Speed Loop Integral Time Con- Position Phase
OW34 15 to 65,535 0.01ms 2,000
stant Speed

Setting Precautions
• However, this element also causes a delay in the Servo system, adversely affecting responsiveness if the
time constant is set too large.
• The actual machine operation follows the settings in the SERVOPACK parameters. Refer to the

Motion Parameters
following section for details on automatically applying settings to the SERVOPACK parameters.
11.7 Automatically Updated Parameters (page 11-33)

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 4.4 Motion Parameter Details
Setting Parameter Details

 Internal Block Diagram

The relationship between the above parameters (OW2E to OW32) is shown in the following
block diagram.
M-III SGDV Communications
Interface Unit SERVOPACK

Acceleration/ Acceleration:
deceleration OL36
processing
Deceleration:
OL38 B
Differential Pn109 A Pn10A
(OW30) None
Kp Kv
B Vref Current
Filter Pn102 Pn100 M
A loop
(OW2E) (OW2F)
Pn811 or Pn812 Ti NTi
FB
(OW3A) Pn11F Pn101
Follow-up
(OW32) (OW34)
PG
A
B
Speed Must be set to a 1:1 ratio.
Compensation
(OW31) A: Pn210
B: Pn20E

Acceleration/Deceleration Settings

 OL36: Linear Acceleration Rate/Acceleration Time Constant

SVC/SVC32 SVR/SVR32

Set the linear acceleration rate or linear acceleration time constant.

Register Setting
Name Setting Unit Default Control mode
Address Range
The unit that
is set in the
Acceleration/
Linear Acceleration Rate/Acceler-
OL36
ation Time Constant 0 to 231−1 Deceleration 0 Position Speed
Rate Unit
Selection bits
is used.

Setting Precautions
The unit that is set in the Acceleration/Deceleration Rate Unit Selection bits (bits 4 to 7 in the
OW03 setting parameter) is used for this parameter.

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 4.4 Motion Parameter Details
Setting Parameter Details

 OL38: Linear Deceleration Rate/Deceleration Time Constant

SVC/SVC32 SVR/SVR32

Set the linear deceleration rate or linear deceleration time constant.

Register Setting
Name Setting Unit Default Control mode
Address Range
The unit that
is set in the
Acceleration/
Linear Deceleration Rate/Deceler-
OL38
ation Time Constant 0 to 231−1 Deceleration 0 Position Speed
Rate Unit
Selection bits
is used.

Setting Precautions
The unit that is set in the Acceleration/Deceleration Rate Unit Selection bits (bits 4 to 7 in the
OW03 setting parameter) is used for this parameter.

 Specifying Acceleration/Deceleration Rates

You can use either of the following two methods to specify an acceleration/deceleration rate.

 Setting the Acceleration/Deceleration Rate Directly

Set the rate within the range of 0 to 2,147,483,647 reference units/s2.
If a negative value is set, a setting parameter warning occurs and the axis operates at the maximum accel-
eration or deceleration rate.

 Setting the Time to Reach the Rated Rotation Speed from Zero Speed
Set the rate within the range of 0 to 32,767 ms.
If a negative value is set, a setting parameter warning occurs and the axis operates as if a setting of 0 was

Motion Parameters
specified.
If a value greater than 32,767 is set, a setting parameter warning occurs and the axis operates as if a setting
of 32,767 was specified.
1 = reference units/s2

100%

Acceleration/Deceleration 0 Reference speed

4
Speed
Rate Unit Selection Linear Acceleration Linear
(%)
(OW03. Bits 4 to 7) Rate Time
Deceleration Rate
(OL36) (OL38)
(t)

1 = ms

100%

1 Reference speed
Speed
(%)
Time

(t)
Linear Acceleration Linear Deceleration
Time Constant Time Constant
(OL36) (OL38)

Note: Refer to the following sections for details on acceleration and deceleration parameters.
Acceleration/Deceleration Settings (page 5-12)
Acceleration/Deceleration Filter Settings (page 5-15)

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 4.4 Motion Parameter Details
Setting Parameter Details

Filter

 OW3A: Filter Time Constant SVC/SVC32 SVR/SVR32

Set the acceleration/deceleration filter time constant.

Register Setting
Name Setting Unit Default Control mode
Address Range
Position Phase
OW3A Filter Time Constant 0 to 65,535 0.1 ms 0
Speed

Setting Precautions
• Always make sure that bit 0 in the IW0C monitor parameter is set to 1 (Distribution completed)
before you change the filter time constant.
• The actual machine operation follows the settings in the SERVOPACK parameters. Refer to the
following section for details on automatically applying settings to the SERVOPACK parameters.
11.7 Automatically Updated Parameters (page 11-33)
• The setting range is limited by the specifications of the SERVOPACK.
• This parameter is used as the filter time constant for CHG_FILTER (Change Filter Type) motion com-
mand (depending on the motion command settings).
• Set the filter type first before you change the time constant.

 Procedure for Setting the Filter Time Constant

1. Select the filter type in bits 8 to B in the OW03 setting parameter.
2. Execute the CHG_FILTER command.
3. Use the OW3A setting parameter to set the filter time constant.
4. Execute the SCC (Change Filter Time Constant) command.
Information • After you set the filter type with the motion command, the setting is held until the power supply
is turned OFF or the filter type is changed again.
• There are two types of acceleration/deceleration filters: an exponential acceleration/deceleration
filter and a moving average filter.
• Refer to the following sections for details on acceleration and deceleration parameters.
Acceleration/Deceleration Settings (page 5-12)
Acceleration/Deceleration Filter Settings (page 5-15)

 OW3B: Bias Speed for Indexed Deceleration/Acceleration Filter

SVR/SVR32

Set the bias speed for the indexed deceleration/acceleration filter.

Register Setting
Name Setting Unit Default Control mode
Address Range
The unit that
is set in the
Bias Speed for Indexed Deceler- Position Phase
OW3B 0 to 32,767 Speed Unit 0
ation/Acceleration Filter Speed
Selection bits
is used.

Setting Precautions
The unit that is set in the Speed Unit Selection bits (OW03 bits 0 to 3) is used for this parameter.

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 4.4 Motion Parameter Details
Setting Parameter Details

Zero Point Return

 OW3C: Zero Point Return Method SVC/SVC32

Set the operation method when the ZRET (Zero Point Return) motion command is executed.
Register Setting
Name Setting Unit Default Control mode
Address Range
OW3C Zero Point Return Method 0 to 19 − 0 Position

Setting Precautions
• With an incremental encoder, there are 13 different methods that you can use for the zero point return
operation. Refer to the following section for details on these operation methods.
ZRET (Zero Point Return) (page 6-21)
• With an absolute encoder, the axis is returned to the zero point of the machine coordinate system
regardless of which method is used.

 OW3D: Zero Point Position Output Width SVC/SVC32 SVR/SVR32

Set the width for which bit 4 (Zero Point Position) in the IW0C monitor parameter will be 1 (Within
zero point position range).
Register Setting
Name Setting Unit Default Control mode
Address Range
Zero Point Position Output Reference
OW3D 0 to 65,535 100 Position
Width units

 OL3E: Approach Speed SVC/SVC32

Set the travel speed for a zero point return operation after the deceleration limit switch (DEC) signal is
detected.

Motion Parameters
Register Setting
Name Setting Unit Default Control mode
Address Range
The unit that
is set in the
OL3E Approach Speed −231 to 231−1 Speed Unit 1,000 Position
Selection bits
is used. 4
Setting Precautions
The unit that is set in the Speed Unit Selection bits (bits 0 to 3 in the OW03 setting parameter) is
used for this parameter.

 OL40: Creep Speed SVC/SVC32

Set the creep speed for the zero point return operation after a ZERO signal is detected.
Register Setting
Name Setting Unit Default Control mode
Address Range
The unit that
is set in the
OL40 Creep Speed −231 to 231−1 Speed Unit 500 Position
Selection bits
is used.

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 4.4 Motion Parameter Details
Setting Parameter Details

Setting Precautions
The unit that is set in the Speed Unit Selection bits (bits 0 to 3 in the OW03 setting parameter) is
used for this parameter.

 OL42: Zero Point Return Travel Distance SVC/SVC32

Set the distance from where the zero point signal is detected to the zero point position.
Register Setting
Name Setting Unit Default Control mode
Address Range
Reference
OL42 Zero Point Return Travel Distance −231 to 231−1 0 Position
units

 Zero Point Return Example

A typical example of a zero point return operation is shown below.
Refer to the following section for details on the zero point return operation.
ZSET (Set Zero Point) (page 6-62)

Speed Reference Setting

Speed
(OL10)
Zero Point Return
Travel Distance
(OL42)
Approach Speed
(OL3E)
Zero Point Creep Speed
Position (OL40)
Output Width

Position
Start

DEC signal
Phase-C pulse

STEP Travel Distance

 OL44: STEP Travel Distance SVC/SVC32 SVR/SVR32

Set the travel distance for the STEP (STEP Operation) motion command. Refer to the following section
for details on the STEP command.
STEP (STEP Operation) (page 6-56)

Register Setting
Name Setting Unit Default Control mode
Address Range
Reference
OL44 STEP Travel Distance 0 to 231−1 units
1,000 Position

Rated speed
Speed
Speed
Reference
Setting
(OL10)
STEP Travel
Distance
(OL44)
Time
Linear Acceleration Linear Deceleration
Time Constant Time Constant
(OL36) (OL38)

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 4.4 Motion Parameter Details
Setting Parameter Details

External Positioning Final Travel Distance

 OL46: External Positioning Final Travel Distance SVC/SVC32

Set the travel distance from when the external signal is input for the EX_POSING (External Positioning)
motion command. Refer to the following section for details on the EX_POSING command.
EX_POSING (External Positioning) (page 6-13)

Register Setting
Name Setting Unit Default Control mode
Address Range
External Positioning Final Travel Reference
OL46
Distance −231 to 231−1 units
0 Position

Rated speed
Speed Speed
Reference Setting
(OL10) External Positioning
Final Travel Distance
(OL46)

Time
Linear Acceleration Linear Deceleration
Time Constant Time Constant
External (OL36)
positioning signal (OL38)

Coordinate System Settings

 OL48: Zero Point Position Offset in Machine Coordinate System

SVC/SVC32 SVR/SVR32

Set the offset to use to shift the machine coordinate system.

Motion Parameters
Register Setting
Name Setting Unit Default Control mode
Address Range
Zero Point Position Offset in Reference Position Phase
OL48
Machine Coordinate System −231 to 231−1 units
0
Speed Torque

Setting Precautions
• This parameter is always enabled. Make sure that the setting is correct. 4
• Refer to the following chapter for information on the use of the coordinate system settings.
Chapter 8 Position Management with an Absolute Encoder

 OL4A: Working Coordinate System Offset SVC/SVC32 SVR/SVR32

Set the offset to use to shift the working coordinate system.

Register Setting
Name Setting Unit Default Control mode
Address Range
Working Coordinate System Off- Reference Position Phase
OL4A
set −231 to 231−1 units
0
Speed Torque

Setting Precautions
This parameter is always enabled. Make sure that the setting is correct.

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 4.4 Motion Parameter Details
Setting Parameter Details

 OL4C: Number of POSMAX Turns Preset Data SVC/SVC32 SVR/SVR32

Set the preset value to set in the IL1E monitor parameter (Number of POSMAX Turns) when bit 6
(Number of POSMAX Turns Preset Request) in the OW00 setting parameter changes to 1 (ON).
Register Setting
Name Setting Unit Default Control mode
Address Range
Number of POSMAX Turns Pre- Position Phase
OL4C
set Data −231 to 231−1 rev 0
Speed Torque

Setting Precautions
• This parameter is not valid for linear motors.
• Refer to the following chapter for information on the use of the coordinate system settings.
Chapter 8 Position Management with an Absolute Encoder

SERVOPACK User Monitor Setting

 OW4E: SERVOPACK User Monitor Setting SVC/SVC32

Register Setting
Name Setting Unit Default Control mode
Address Range
SERVOPACK User Monitor Set- Position Phase
OW4E − − 0700H
ting Speed Torque

 Bits 4 to 7: Monitor 2
Select the SERVOPACK information to report in the IL30 monitor parameter (SERVOPACK User
Monitor 2) from the following list.
0: APOS (feedback position).
1: CPOS (reference position).
2: PERR (position deviation).
3: LPOS1 (latch position 1).
4: LPOS2 (latch position 2).
5: FSPD (feedback speed).
6: CSPD (reference speed).
7: TRQ (torque/force reference).
8: ALARM (detailed information on the first alarm).
If an alarm occurs after a warning, the alarm is given.
9 to B: Reserved for system.
C: CMN1 (common monitor 1).
The monitor data that is specified in common parameter No. 89 is reported.
For details on the contents of monitor data, refer to information on the SERVOPACK common param-
eter No. 89.
D: CMN2 (common monitor 2).
The monitor data that is specified in common parameter No. 8A is reported.
For details on the contents of monitor data, refer to information on the SERVOPACK common param-
eter No. 8A.

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 4.4 Motion Parameter Details
Setting Parameter Details

E: OMN1 (optional monitor 1).

The monitor data that is specified in the parameter is reported. The monitor data depends on the prod-
uct specifications.
F: OMN2 (optional monitor 2).
The monitor data that is specified in the parameter is reported. The monitor data depends on the prod-
uct specifications.

 Bits C to F: Monitor 4
Select the SERVOPACK information to report in the IL34 monitor parameter (Servo Driver User
Monitor 4) from the following list.
0 to F: Same as monitor 2.

SERVOPACK References

 OW4F: SERVOPACK Alarm Monitor Number SVC/SVC32

Set the alarm number to monitor for the following motion commands.
• ALM_MON (Monitor Alarms)
• ALM_HIST (Monitor Alarm History)
Monitoring results are reported in the IW2D monitor parameter (SERVOPACK Alarm Code).
Refer to the following chapter for details.
Chapter 6 Motion Commands

Register Setting
Name Setting Unit Default Control mode
Address Range
SERVOPACK Alarm Monitor Position Phase

Motion Parameters
OW4F 0 to 10 − 0
Number Speed Torque

 OW50: SERVOPACK Parameter Number SVC/SVC32

Specify the number of the SERVOPACK parameter to process for the following motion commands.
• PRM_RD (Read SERVOPACK Parameter)
• PRM_WR (Write SERVOPACK Parameter) 4
• PPRM_WR (Write Non-volatile Parameter)
Refer to the following chapter for details.
Chapter 6 Motion Commands

Register Setting
Name Setting Unit Default Control mode
Address Range
SERVOPACK Parameter Num- Position Phase
OW50 0 to 65,535 − 0
ber Speed Torque

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 4.4 Motion Parameter Details
Setting Parameter Details

 OW51: SERVOPACK Parameter Size SVC/SVC32

Specify the size, in words, of the SERVOPACK parameter to process for the following motion commands.
• PRM_RD (Read SERVOPACK Parameter)
• PRM_WR (Write SERVOPACK Parameter)
• PPRM_WR (Write Non-volatile Parameter)
Refer to the following chapter for details.
Chapter 6 Motion Commands

Register Setting
Name Setting Unit Default Control mode
Address Range
Position Phase
OW51 SERVOPACK Parameter Size 1, 2 word 1
Speed Torque

 OL52: SERVOPACK Parameter Set Value SVC/SVC32

Set the SERVOPACK parameter value to be written for the following motion commands.
• PRM_WR (Write SERVOPACK Parameter)
• PPRM_WR (Write Non-volatile Parameter)
Refer to the following chapter for details.
Chapter 6 Motion Commands

Register Setting
Name Setting Unit Default Control mode
Address Range
SERVOPACK Parameter Set Position Phase
OL52
Value −231 to 231−1 − 0
Speed Torque

 OW54: Auxiliary SERVOPACK Parameter Number SVC/SVC32

Specify the number of the SERVOPACK parameter to process for the following motion subcommands.
• PRM_RD (Read SERVOPACK Parameter)
• PRM_WR (Write SERVOPACK Parameter)
Refer to the following chapter for details.
Chapter 6 Motion Commands

Register Setting
Name Setting Unit Default Control mode
Address Range
Auxiliary SERVOPACK Parame- Position Phase
OW54 0 to 65,535 − 0
ter Number Speed Torque

 OW55: Auxiliary SERVOPACK Parameter Size SVC/SVC32

Specify the size, in words, of the SERVOPACK parameter to process for the following motion subcom-
mands.
• PRM_RD (Read SERVOPACK Parameter)
• PRM_WR (Write SERVOPACK Parameter)
Refer to the following chapter for details.
Chapter 6 Motion Commands

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 4.4 Motion Parameter Details
Setting Parameter Details

Register Setting
Name Setting Unit Default Control mode
Address Range
Auxiliary SERVOPACK Param- Position Phase
OW55 1, 2 word 1
eter Size Speed Torque

 OL56: Auxiliary SERVOPACK Parameter Set Value SVC/SVC32

Set the SERVOPACK parameter value to be written for the PRM_WR (Write SERVOPACK Parameter)
motion subcommand. Refer to the following chapter for details.
Chapter 6 Motion Commands

Register Setting
Name Setting Unit Default Control mode
Address Range
Auxiliary SERVOPACK Parame- Position Phase
OL56
ter Set Value −231 to 231−1 − 0
Speed Torque

 OL58: Address Setting SVC/SVC32

Set the memory address for the following motion commands.

• MEM_RD (Read Memory)
• MEM_WR (Write Memory)
• PMEM_RD (Read Non-volatile Memory)
• PMEM_WR (Write Non-volatile Memory)
Refer to the following chapter for details.
Chapter 6 Motion Commands

Register Setting
Name Setting Unit Default Control mode
Address Range

Motion Parameters
0 to Phase
Position
OL58 Address Setting FFFFFFFF − 0
Speed Torque
hex

 OW5B: Device Information Selection Code SVC/SVC32

Set the information to read with the INF_RD (Read Device Information) motion subcommand.
4
The information that is read is reported in the area from the IW70 monitor parameter onward.
Register Setting
Name Setting Unit Default Control mode
Address Range
Device Information Selection Position Phase
OW5B 0 to 65,535 − 0
Code Speed Torque

00 hex: Disabled
01 hex: Vendor ID code
02 hex: Device code
03 hex: Device version
04 hex: Device information file version
05 hex: Serial number

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 4.4 Motion Parameter Details
Setting Parameter Details

Auxiliary Settings

 OW5C: Fixed Parameter Number SVC/SVC32 SVR/SVR32

Set the number of the fixed parameter to read with the FIXPRM_RD (Read Fixed Parameter) motion sub-
command.
The information that is read is reported in the IW56 monitor parameter (Fixed Parameter Monitor).
Refer to the following section for details.
FIXPRM_RD (Read Fixed Parameter) (page 6-134)

Register Setting
Name Setting Unit Default Control mode
Address Range
Position Phase
OW5C Fixed Parameter Number 0 to 65,535 − 0
Speed Torque

Absolute Infinite-length Position Management Information

 OL5E: Power OFF Encoder Position (Lower 2 Words) and

OL60: Power OFF Encoder Position (Upper 2 Words) SVC/SVC32
These parameters store information for infinite-length position management when an absolute encoder is
used. The encoder position is stored in 4 words.
When bit 7 (Absolute Infinite-length Position Information Load Request) in the OW00 setting
parameter is set to 1 (Request ON), the position information is recalculated based on the set value of this
parameter and the OL62 and OL64 setting parameters (Power OFF Pulse Position).
Register Setting
Name Setting Unit Default Control mode
Address Range
Power OFF Encoder Position Position Phase
OL5E
(Lower 2 Words) −231 to 231−1 pulse 0
Speed Torque

Power OFF Encoder Position Position Phase

OL60
(Upper 2 Words) −231 to 231−1 pulse 0
Speed Torque

Setting Precautions
Set this parameter to 0 for linear motors.

 OL62: Power OFF Pulse Position (Lower 2 Words) and

OL64: Power OFF Pulse Position (Upper 2 Words) SVC/SVC32
These parameters store information for infinite-length position management when an absolute encoder is
used.
The axis pulse position that is managed internally by the Machine Controller is stored in 4 words.
When bit 7 (Absolute Infinite-length Position Information Load Request) in the OW00 setting
parameter is set to 1 (Request ON), the position information is recalculated based on the set value of this
parameter and the OL5E and OL60 setting parameters (Power OFF Encoder Position).

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 4.4 Motion Parameter Details
Setting Parameter Details

Register Setting
Name Setting Unit Default Control mode
Address Range
Power OFF Pulse Position (Lower Position Phase
OL62
2 Words) −231 to 231−1 pulse 0
Speed Torque

Power OFF Pulse Position (Upper Position Phase

OL64
2 Words) −231 to 231−1 pulse 0
Speed Torque

Setting Precautions
Set this parameter to 0 for linear motors.

Software Limits

 OL66: Positive Software Limit SVC/SVC32

Set the position to detect the software limit in the positive direction for the Machine Controller.
Register Setting
Name Setting Unit Default Control mode
Address Range
Reference Position Phase
OL66 Positive Software Limit −231 to 231−1 units 231−1
Speed Torque

Setting Precautions
• This parameter is valid when bit 1 (Enable Positive Software Limit) in fixed parameter No. 1 is set to 1
(Enabled) and bit C (Software Limit Parameter Selection) is set to 1 (Setting parameter).
• If an axis attempts to move in the positive direction past this position, a positive software limit alarm
occurs and bit 3 in the IL04 monitor parameter changes to 1.
• The software limit is enabled only after bit 5 (Zero Point Return/Setting Completed) in the IW0C
monitor parameter changes to 1 (Completed). Refer to the following section for details.

Motion Parameters
11.3 Software Limits (page 11-9)

 OL68: Negative Software Limit SVC/SVC32

Set the position to detect the software limit in the negative direction for the Machine Controller.
Register Setting
Name Setting Unit Default Control mode
Address Range 4
Reference Position Phase
OL68 Negative Software Limit −231 to 231−1 units −231
Speed Torque

Setting Precautions
• This parameter is valid when bit 2 (Enable Negative Software Limit) in fixed parameter No. 1 is set to 1
(Enabled) and bit C (Software Limit Parameter Selection) is set to 1 (Setting parameter).
• If an axis attempts to move in the negative direction past this position, a negative software limit alarm
occurs and bit 4 in the IL04 monitor parameter changes to 1.
• The software limit is enabled only after bit 5 (Zero Point Return/Setting Completed) in the IW0C
monitor parameter changes to 1 (Completed). Refer to the following section for details.
11.3 Software Limits (page 11-9)

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 4.4 Motion Parameter Details
Setting Parameter Details

 Overview of Software Limits

Machine movement range

Negative Positive
software limit software limit

No. 1: Function Selection Flags 1 No. 1: Function Selection Flag

Bit 2 0: Disabled Bit 1 0: Disabled
1: Enabled 1: Enabled

SERVOPACK Parameters

 OL70: User-specified SERVOPACK Parameter Set Value SVC/SVC32

Set the data to automatically apply to the SERVOPACK parameter specified by fixed parameter No. 44
(User-specified SERVOPACK Parameter Number).
Register Setting
Name Setting Unit Default Control mode
Address Range
User-specified SERVOPACK
OL70
Parameter Set Value −231 to 231−1 − 0 −

SERVOPACK Transmission Reference Mode

 OW68 to OW7F: Command Buffers for SERVOPACK Trans-

mission Reference Mode SVC/SVC32
These parameters are used for command data when MECHATROLINK Servo commands are specified
directly.
These parameters are used in SERVOPACK Transmission Reference Mode only. Set fixed parameter No.
0 (Operation Mode Selection) to 3 (SERVOPACK Transmission Reference Mode).
Refer to the following section for details.
Fixed Parameter Details −  No. 0: Operation Mode Selection (page 4-30)

Register Setting
Name Setting Unit Default Control mode
Address Range
OW68 Command Buffers for SERVO-
to PACK Transmission Reference − − 0 −
OW7F Mode

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 4.4 Motion Parameter Details
Monitor Parameter Details

Monitor Parameter Details

This section provides details on each of the monitor parameters.

Information • Refer to the following section for a list of the monitor parameters.
Monitor Parameter Table (page 4-21)
• “IW00” indicates the first input register address plus 00.
Refer to the following section for the procedure to determine the first address of the input regis-
ters.
4.1 Motion Parameter Register Addresses (page 4-2)

RUN Status

 IW00: RUN Status

Register
Name Range Unit
Address
IW00 RUN Status − −

 Bit 0: Motion Operation Ready SVC/SVC32 SVR/SVR32

0: Motion operation not ready.

1: Motion operation ready.
This bit changes to 1 when the SVC or SVC32 Function Module is in ready for motion operation.
This bit changes to 0 in the following situations.
• Major fault error occurred.
• Unused axis was selected.

Motion Parameters
• Fixed parameter setting error occurred.
• Fixed parameter is being changed.
• Communications are not synchronized.
• SERVOPACK parameters are being accessed by a command from an MPE720.
• The Motion Parameter Tab Page (SVC Definition Tab Page) is open on an MPE720.
Precautions
4
Configure an OR circuit with bit 2 (System Busy) in the IW00 monitor parameter for a Servo ON
interlock.

 Bit 1: Running with Servo ON SVC/SVC32 SVR/SVR32

0: Stopped.
1: Running with Servo ON.
This bit is 1 while the axis is in the Servo ON state.

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 4.4 Motion Parameter Details
Monitor Parameter Details

 Bit 2: System Busy SVC/SVC32

0: System not busy.

1: System busy.
This bit changes to 1 when a motion command cannot be processed due to the execution of any of the fol-
lowing system processes.
• Fixed parameter is being changed.
• SERVOPACK parameters are being read for a command from an MPE720.
• SERVOPACK parameters are being written for a command from an MPE720.

 Bit 3: Servo Ready SVC/SVC32

0: Servo not ready.

1: Servo ready.
This bit changes to 1 when all of the following conditions are satisfied.
• Communications are synchronized.
• The main power supply for the SERVOPACK is ON.
• There are no alarms in the SERVOPACK.

 Bit 4: Latch Mode SVC/SVC32

0: Latch detection request not received.

1: Latch detection request received.
This bit changes to 1 when a request is received in bit 4 (Latch Detection Request) in the OW00 set-
ting parameter.

Out-of-range Parameter Number

 IW01: Out-of-range Parameter Number SVC/SVC32 SVR/SVR32

This parameter reports the number of the setting or fixed parameter that exceeds the setting range either
individually or in combination with the settings of other parameters.
For fixed parameters, this parameter reports the parameter number plus 1,000.
• Setting parameter: 0 and higher
• Fixed parameter: 1000 and higher
Register
Name Range Unit
Address
IW01 Out-of-range Parameter Number 0 to 65,535 −

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 4.4 Motion Parameter Details
Monitor Parameter Details

Warnings

 IL02: Warnings
Register
Name Range Unit
Address
IL02 Warnings − −

 Bit 0: Excessive Deviation SVC/SVC32

0: In normal deviation range.

1: Excessive deviation detected.
This bit changes to 1 in the following situations.
• Bit 0 (Excessive Deviation Error Level Setting) in the OW01 setting parameter is set to 1
(Warning).
• The position deviation exceeds the value of the OL22 setting parameter (Excessive Deviation
Detection Value).

 Bit 1: Setting Parameter Error SVC/SVC32 SVR/SVR32

0: In setting range.
1: Outside setting range.
This bit changes to 1 when one or more of the setting parameters are set outside of the setting range. The
parameter number that is detected outside of the valid setting range is reported in the IW01 monitor
parameter (Out-of-range Parameter Number).

 Bit 2: Fixed Parameter Error SVC/SVC32 SVR/SVR32

0: In setting range.

Motion Parameters
1: Outside setting range.
This bit changes to 1 when one or more of the fixed parameters are set outside of the setting range. The
parameter number that is detected outside of the valid setting range is reported in the IW01 monitor
parameter (Out-of-range Parameter Number).

 Bit 3: Servo Driver Error SVC/SVC32

4
0: No warning.
1: Warning.
This bit changes to 1 when a warning occurs in the SERVOPACK. You can view the details of the warning
in the IW2D monitor parameter (SERVOPACK Alarm Code).

 Bit 4: Motion Command Setting Error SVC/SVC32 SVR/SVR32

0: No command setting error.

1: Command setting error.
This bit changes to 1 when an unusable motion command is set.

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 4.4 Motion Parameter Details
Monitor Parameter Details

 Bit 6: Positive Overtravel SVC/SVC32

0: No positive overtravel.
1: Positive overtravel occurred.
This bit changes to 1 when positive overtravel is disabled in the fixed parameter settings and a positive
overtravel signal is input.
Positive Overtravel Warning Signal
The positive overtravel warning signal turns ON when all of the following conditions are met.
• SERVOPACK Parameter Settings
Pn50A is H2881 (P-OT is valid when CN1-8 is at the low level).
Pn50B is H8881 (N-OT is valid when CN1-7 is at the low level).
• Fixed Parameter Settings
Bit 3 in fixed parameter No. 1 is 0 (Disabled).
Bit 4 in fixed parameter No. 1 is 0 (Disabled).
• The power supply to the Servomotor is ON (Servo ON).
• A motion command such as POSING (Positioning) or FEED (Jog) is executed.
• The reference is in the P-OT or N-OT direction.
• The SERVOPACK’s P-OT or N-OT input signal turns ON.

 Bit 7: Negative Overtravel SVC/SVC32

0: No negative overtravel.
1: Negative overtravel occurred.
This bit changes to 1 when negative overtravel is disabled in the fixed parameter settings and a negative
overtravel signal is input.
Negative Overtravel Warning Signal
The negative overtravel warning signal turns ON under the same conditions as the positive overtravel
warning signal.

 Bit 8: Servo ON Incomplete SVC/SVC32

0: Servo ON.
1: Servo ON incomplete.
This bit is 1 if the Servomotor’s power is not ON, even if bit 0 (Servo ON) in the OW00 setting
parameter is set to 1.

 Bit 9: SERVOPACK Communications Warning SVC/SVC32

0: Communications normal.
1: Communications error detected.
This bit changes to 1 when an error occurs in communications with the SERVOPACK. This bit is cleared
automatically when communications are restored to normal operation.

 Bit A: SERVOPACK Stop Signal Active SVC/SVC32

0: There is no stop signal input.

1: There is a stop signal input.
This bit changes to 1 when an emergency stop signal is input to the SERVOPACK.

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Alarms

 IL04: Alarms
Register
Name Range Unit
Address
IL04 Alarms − −

 Bit 0: Servo Driver Error SVC/SVC32

0: No SERVOPACK alarm.
1: SERVOPACK alarm occurred.
This bit changes to 1 when an alarm occurs in a SERVOPACK with MECHATROLINK-III Communica-
tions.
You can view the details of the alarm in the IW2D monitor parameter (SERVOPACK Alarm Code).

 Bit 1: Positive Overtravel SVC/SVC32

0: No positive overtravel.
1: Positive overtravel occurred.
This bit changes to 1 when a positive overtravel signal is input and a movement motion command is exe-
cuted in the positive direction. Refer to the following section for details.
11.2 Overtravel (page 11-6)

 Bit 2: Negative Overtravel SVC/SVC32

0: No negative overtravel.
1: Negative overtravel occurred.

Motion Parameters
This bit changes to 1 when a negative overtravel signal is input and a movement motion command is exe-
cuted in the negative direction. Refer to the following section for details.
11.2 Overtravel (page 11-6)

 Bit 3: Positive Software Limit SVC/SVC32

0: Positive software limit not exceeded. 4

1: Positive software limit exceeded.
This bit changes to 1 when a movement motion command is executed that exceeds the positive software
limit in the following situations.
• When bit 0 (Axis Selection) in fixed parameter No. 1 is 0 (Finite-length axis).
• When the positive software limit is enabled.
• When the zero point return operation is completed.
Refer to the following section for details.
11.3 Software Limits (page 11-9)

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 4.4 Motion Parameter Details
Monitor Parameter Details

 Bit 4: Negative Software Limit SVC/SVC32

0: Negative software limit not exceeded.

1: Negative software limit exceeded.
This bit changes to 1 when a movement motion command is executed that exceeds the negative software
limit in the following situations.
• When bit 0 (Axis Selection) in fixed parameter No. 1 is 0 (Finite-length axis).
• When the negative software limit is enabled.
• When the zero point return operation is completed.
Refer to the following section for details.
11.3 Software Limits (page 11-9)

 Bit 5: Servo OFF SVC/SVC32 SVR/SVR32

0: Servo ON.
1: Servo OFF.
This bit changes to 1 if a movement motion command is executed when the Servomotor’s power is turned
OFF.

 Bit 6: Positioning Time Exceeded SVC/SVC32

0: No timeout.
1: Timeout occurred.
This bit changes to 1 when positioning is not completed within the specified time in the OW26 set-
ting parameter (Positioning Completion Check Time) after the end of pulse distribution.

 Bit 7: Excessive Positioning Travel Distance SVC/SVC32

0: Normal travel distance.

1: Excessive travel distance.
This bit changes to 1 when a travel distance is specified that exceeds the valid positioning travel distance
setting range.

 Bit 8: Excessive Speed SVC/SVC32

0: Normal speed.
1: Excessive speed.
This bit changes to 1 when a speed reference is issued that exceeds the valid setting range.

 Bit 9: Excessive Deviation SVC/SVC32

0: Normal following deviation.

1: Excessive deviation.
If bit 0 (Excessive Deviation Error Level Setting) in the OW01 setting parameter is set to 0
(Alarm), this bit changes to 1 when the position deviation exceeds the value of the OL22 setting
parameter (Excessive Deviation Detection Value).

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Monitor Parameter Details

 Bit A: Filter Type Change Error SVC/SVC32

0: No change error.
1: Change error occurred.
This bit changes to 1 if the filter type is changed while the pulses are still being distributed.

 Bit B: Filter Time Constant Change Error SVC/SVC32

0: No change error.
1: Change error occurred.
This bit changes to 1 if the filter time constant is changed while the pulses are still being distributed.

 Bit D: Zero Point Unset SVC/SVC32

0: Zero point is not set.

1: Zero point unset error occurred.
This bit changes to 1 if a movement motion command (excluding FEED and STEP) is executed when bit 0
(Axis Selection) in fixed parameter No. 1 is set to 1 (Infinite-length axis) while the zero point is not set.

 Bit 10: SERVOPACK Synchronized Communications Error SVC/SVC32

0: No synchronized communications error.

1: Synchronized communications error occurred.
This bit changes to 1 when an error in synchronized communications with the SERVOPACK is detected.

 Bit 11: SERVOPACK Communications Error SVC/SVC32

0: No consecutive synchronized communications errors.

Motion Parameters
1: Consecutive synchronized communications errors occurred.
This bit changes to 1 when an error in synchronized communications with the SERVOPACK is detected
twice in succession.

 Bit 12: SERVOPACK Communications Timeout Error SVC/SVC32

4
0: SERVOPACK command completed within the specified time.
1: SERVOPACK command not completed within the specified time.
This bit changes to 1 when a command that was sent to the SERVOPACK is not completed within the
specified time.

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 4.4 Motion Parameter Details
Monitor Parameter Details

 Bit 13: Excessive Absolute Encoder Rotations SVC/SVC32

0: In valid range.
1: Outside valid range.
This bit changes to 1 when the number of rotations of the absolute encoder exceeds the range that can be
handled by the SVC or SVC32 Function Module.
Precautions
• This flag is valid when an absolute encoder is used and bit 0 (Axis Selection) in fixed parameter No. 1 is
set to 0 (Finite-length axis).
• This bit also changes to 1 if the result of the calculation to convert the current position when the power
supply is turned ON into reference units exceeds 32 bits.
• This bit is not valid for linear motors.

 Bit 16: Scan Setting Error SVC/SVC32

0: No scan setting error.

1: Scan setting error occurred.
This bit is 1 while the high-speed scan cycle setting and the MECHATROLINK communications cycle
setting are asynchronous.

 Bit 1C: Cyclic Communications Initialization Incomplete SVC/SVC32

0: Initialization completed (default).

1: Initialization not completed.
MECHATROLINK-III communications allows connections to a network where communications are
already in progress. In some cases, however, connection may not be possible due to conditions such as the
communications cycle and the number of slave stations that are connected. This bit changes to 1 if that
occurs.
Precautions
If this alarm occurs, turn the power supply to the Machine Controller OFF and ON again or reset the net-
work (bit C in OW00).

 Bit 1D: Detected SERVOPACK Model Error SVC/SVC32

0: Match.
1: Mismatch.
This bit changes to 1 when the SERVOPACK model assigned in the SVC definition does not match the
SERVOPACK model that is actually connected.

 Bit 1E: Motor Type Setting Error SVC/SVC32

0: Match.
1: Mismatch.
This bit changes to 1 when the motor type in the SVC definition does not match the motor type set for the
SERVOPACK.

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 4.4 Motion Parameter Details
Monitor Parameter Details

 Bit 1F: Connected Encoder Model Error SVC/SVC32

0: Match.
1: Mismatch.
This bit changes to 1 when the encoder type set in the SVC definition does not match the connected
encoder type.

Motion Command Response Code

 IW08: Motion Command Response Code SVC/SVC32 SVR/SVR32

This parameter reports the motion command code for the command that is currently being executed.
Response codes are also reported when the following processes are executed.
• Servo ON: 29
• Servo OFF: 30
• Clear Alarm: 31
Register
Name Range Unit
Address
IW08 Motion Command Response Code 0 to 38 −

Precautions
This parameter reports the command that is currently being executed. Therefore, it may not match the set
value for the OW08 setting parameter (Motion Commands).

Motion Command Status

 IW09: Motion Command Status

Motion Parameters
Register
Name Range Unit
Address
IW09 Motion Command Status − −

 Bit 0: Command Execution Flag (BUSY) SVC/SVC32 SVR/SVR32

This bit indicates the motion command execution status.

4
Refer to the timing charts for the individual commands in the following chapter for details.
Chapter 6 Motion Commands
0: READY (Completed).
1: BUSY (Processing).
This bit changes to 1 when a command that can be completed is currently being executed or processed.

 Bit 1: Command Hold Completed (HOLDL) SVC/SVC32 SVR/SVR32

0: Command hold not completed.

1: Command hold completed.
This bit changes to 1 when the command hold is completed.
Refer to the timing charts for the individual commands in the following chapter for details.
Chapter 6 Motion Commands

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Monitor Parameter Details

 Bit 3: Command Error End (FAIL) SVC/SVC32 SVR/SVR32

0: Completed normally.
1: Completed with an error.
This bit changes to 1 if motion command processing is not completed normally.
If a command ends in an error, the axis will stop any movement.
Refer to the timing charts for the individual commands in the following chapter for details.
Chapter 6 Motion Commands

 Bit 8: Command Execution Completed (COMPLETE) SVC/SVC32 SVR/SVR32

0: Normal execution not completed.

1: Normal execution completed.
This bit changes to 1 when execution of a motion command is completed normally.
Refer to the timing charts for the individual commands in the following chapter for details.
Chapter 6 Motion Commands

Motion Subcommand Response Code

 IW0A: Motion Subcommand Response Code SVC/SVC32 SVR/SVR32

This parameter reports the code for the motion subcommand that is currently being executed.
Motion subcommands are used by the system for latch commands and reading/writing parameters.
Register
Name Range Unit
Address
IW0A Motion Subcommand Response Code 0 to 65,535 −

Precautions
This parameter reports the motion subcommand that is currently being executed. Therefore, it may not
match the set value for the OW0A setting parameter (Motion Subcommands).

Motion Subcommand Status

 IW0B: Motion Subcommand Status

Register
Name Range Unit
Address
IW0B Motion Subcommand Status − −

 Bit 0: Command Execution Flag (BUSY) SVC/SVC32 SVR/SVR32

This bit indicates the motion subcommand execution status.

0: READY (Completed).
1: BUSY (Processing).
This bit changes to 1 when a command that can be completed is currently being executed or processed.

 Bit 3: Command Error End (FAIL) SVC/SVC32 SVR/SVR32

0: Completed normally.

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 4.4 Motion Parameter Details
Monitor Parameter Details

1: Completed with an error.

This bit changes to 1 if motion subcommand processing is not completed normally.

 Bit 8: Command Execution Completed (COMPLETE) SVC/SVC32 SVR/SVR32

0: Normal execution not completed.

1: Normal execution completed.
This bit changes to 1 when execution of a motion subcommand is completed normally.

Position Management Status

 IW0C: Position Management Status

Register
Name Range Unit
Address
IW0C Position Management Status − −

 Bit 0: Distribution Completed (DEN) SVC/SVC32 SVR/SVR32

0: Distributing pulses.
1: Distribution completed.
This bit changes to 1 when distribution is completed for a movement motion command. This bit changes
to 1 when the SERVOPACK finishes distributing reference pulses (bit C in IW28 is set to 1), and all
SVC or SVC32 internal processing related to reference pulse distribution is completed.

 Bit 1: Positioning Completed (POSCOMP) SVC/SVC32 SVR/SVR32

0: Outside positioning completed range.

Motion Parameters
1: Within positioning completed range.
This bit changes to 1 when pulse distribution is completed and the current position is within the position-
ing completed range (i.e., when bit E of IL28 is 1).

 Bit 2: Latch Completed (LCOMP) SVC/SVC32

0: Latch not complete. 4

1: Latch completed.
This bit changes to 0 when a new latch command is executed and changes to 1 when the latch is com-
pleted. The latched position is reported in the IL18 monitor parameter (Machine Coordinate System
Latch Position (LPOS)).

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 Bit 3: Near Position (NEAR) SVC/SVC32 SVR/SVR32

0: Outside near position range.

1: Within near position range.
Operation depends on the value of OL20 setting parameter (NEAR Signal Output Width).
• When OL20 is 0: Bit 3 changes to 1 when distribution is completed (bit 0 in IW0C).
• When OL20 is not 0: Bit 3 changes to 1 if within the range calculated by the following formula,
regardless of the Distribution Completed Flag.
| (IL12) − (IL16) | ≤ OL20
IL12: Machine Coordinate System Reference Position
IL16: Machine Coordinate System Feedback Position
OL20: NEAR Signal Output Width

 Bit 4: Zero Point Position (ZERO) SVC/SVC32 SVR/SVR32

0: Outside zero point position range.

1: Within zero point position range.
This bit changes to 1 when a zero point return/setting is completed and the IL12 monitor parameter
(Machine Coordinate System Reference Position (MPOS)) is within the range of the OW3D setting
parameter (Zero Point Position Output Width) from the zero point position.

 Bit 5: Zero Point Return/Setting Completed (ZRNC) SVC/SVC32 SVR/SVR32

0: Zero point return/setting not completed.

1: Zero point return/setting completed.
This bit changes to 1 after the completion of a zero point return/setting.
This bit changes to 0 when, during a zero point return/setting operation, communications with the SER-
VOPACK are stopped and reestablished or when an encoder-related Servo alarm occurs.

 Bit 6: Machine Locked (MLKL) SVC/SVC32

0: Machine Lock Mode released.

1: Machine locked.
This bit changes to 1 when bit 1 in OW00 setting parameter (Machine Lock) is set to 1 and the axis
has actually entered Machine Lock Mode.

 Bit 8: Absolute Infinite-length Position Information Load Completed (ABSLDE) SVC/SVC32

0: Load not complete.

1: Load completed.
This bit changes to 1 when bit 7 in the OW00 setting parameter (Absolute Infinite-length Position
Information Load Request) is set to 1 and the absolute infinite-length axis position information setup is
completed.
Precautions
This parameter is not valid for linear motors.

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Monitor Parameter Details

 Bit 9: POSMAX Turn Preset Completed (TPRSE) SVC/SVC32 SVR/SVR32

0: Preset not completed.

1: Preset completed.
This bit changes to 1 when bit 6 (Number of POSMAX Turns Preset Request) in the OW00 setting
parameter changes to 1 and the number of POSMAX turns are preset for the OL4C setting parame-
ter (Number of POSMAX Turns Preset Data).
Precautions
This parameter is not valid for linear motors.

Position Information

 IL0E: Machine Coordinate System Target Position (TPOS)

SVC/SVC32 SVR/SVR32

This parameter reports the target position in the machine coordinate system managed by the SVC or
SVC32 Function Module.
Register
Name Range Unit
Address
IL0E Machine Coordinate System Target Position (TPOS) −231 to 231−1 Reference units

Precautions
• This is the target position for each scan for the INTERPOLATE (Interpolation) or LATCH (Latch)
motion command.
• This parameter changes to 0 when the power supply is turned ON.
• The data is updated even when the machine is locked.
• This parameter is not reset, even if bit 0 (Axis Selection) in fixed parameter No. 1 is set to 1 (Infinite-

Motion Parameters
length axis).

 IL10: Machine Coordinate System Calculated Position (CPOS)

SVC/SVC32 SVR/SVR32

This parameter reports the calculated position in the machine coordinate system managed by the SVC or
SVC32 Function Module.
4
Register
Name Range Unit
Address
IL10 Machine Coordinate System Calculated Position (CPOS) −231 to 231−1 Reference units

Precautions
• The position data that is stored in this parameter is the target position for each scan.
• This parameter changes to 0 when the power supply is turned ON.
• The data is updated even when the machine is locked.
• When bit 0 (Axis Selection) in fixed parameter No. 1 is set to 1 (Infinite-length axis), the range for this
parameter is 0 to (infinite-length axis reset position - 1).

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 4.4 Motion Parameter Details
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 IL12: Machine Coordinate System Reference Position (MPOS)

SVC/SVC32 SVR/SVR32

This parameter reports the reference position in the machine coordinate system managed by the SVC or
SVC32 Function Module.
Register
Name Range Unit
Address
IL12 Machine Coordinate System Reference Position (MPOS) −231 to 231−1 Reference units

Precautions
• This parameter changes to 0 when the power supply is turned ON.
• This data is not updated when the machine is locked. (When the machine is locked, the position refer-
ence data is not output externally.)
• When the machine is not locked, this parameter has the same value as the IL10 monitor parameter
(Machine Coordinate System Calculated Position (CPOS)).

 IL14: 32-bit DPOS (DPOS) SVC/SVC32 SVR/SVR32

This parameter reports the reference position in the machine coordinate system managed by the SVC or
SVC32 Function Module.
Register
Name Range Unit
Address
IL14 32-bit DPOS (DPOS) −231 to 231−1 Reference units

Precautions
• When bit 0 (Axis Selection) in fixed parameter No. 1 is set to 0 (Finite-length axis), this parameter has
the same value as the IL10 monitor parameter (Machine Coordinate System Calculated Position
(CPOS)).
• The value of this parameter is in the range of -231 to 231-1 regardless of the setting of bit 0 (Axis Selec-
tion) in fixed parameter No. 1.

 IL16: Machine Coordinate System Feedback Position (APOS)

SVC/SVC32 SVR/SVR32

This parameter reports the feedback position in the machine coordinate system managed by the SVC or
SVC32 Function Module.
Register
Name Range Unit
Address
Machine Coordinate System Feedback Position
IL16
(APOS) −231 to 231−1 Reference units

Precautions
• This parameter changes to 0 when the ZRET (Zero Point Return) motion command is executed.
• The range for this parameter is 0 to (infinite-length axis reset position - 1) when bit 0 (Axis Selection) in
fixed parameter No. 1 is set to 1 (Infinite-length axis).

 IL18: Machine Coordinate System Latch Position (LPOS) SVC/SVC32

This parameter reports the latch position when the latch is completed.
Register
Name Range Unit
Address
IL18 Machine Coordinate System Latch Position (LPOS) −231 to 231−1 Reference units

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 IL1A: Position Deviation (PERR) SVC/SVC32

This parameter reports the following deviation (internal Servo reference position - feedback position, con-
verted to reference units) managed by the SVC or SVC32 Function Module.
Register
Name Range Unit
Address
IL1A Position Deviation (PERR) −231 to 231−1 Reference units

 IL1C: Target Position Increment Monitor (PDV) SVR/SVR32

This parameter reports the reference pulse distribution amount for each scan.
Register
Name Range Unit
Address
IL1C Target Position Increment Monitor (PDV) −231 to 231−1 Reference units

 IL1E: Number of POSMAX Turns SVC/SVC32 SVR/SVR32

The count stored in this parameter goes up or down each time the current position exceeds the set value of
fixed parameter No. 10 (Infinite-length Axis Reset Position).
Register
Name Range Unit
Address
IL1E Number of POSMAX Turns −231 to 231−1 turn

Precautions
• This parameter is valid for infinite-length axes.
• This parameter is not valid for linear motors.

Machine Coordinate System

This is the basic coordinate system that is set based on the execution of the ZRET (Zero Point Return)

Motion Parameters
or ZSET (Set Zero Point) command. The Machine Controller manages positions using this machine
Terms
coordinate system.

Reference Monitors
4
 IL20: Speed Reference Output Monitor SVC/SVC32

This parameter reports the speed reference that is currently being output. This parameter monitors the
speed that is output to the MECHATROLINK.
Register
Name Range Unit
Address
IL20 Speed Reference Output Monitor −231 to 231−1 pulse/s

Precautions
This parameter is 0 for interpolation or phase control.

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 4.4 Motion Parameter Details
Monitor Parameter Details

 IL28: M-III Servo Command Input Signal Monitor SVC/SVC32

This parameter reports the signal information that was input to the MECHATROLINK-III. The meanings
of the bits depend on the Servo profile.
Register
Name Range Unit
Address
IL28 M-III Servo Command Input Signal Monitor − −

Bits for the Standard Servo Profile

Bit 0: Reserved for system. Bit B: N-SOT
Bit 1: DEC Bit C: DEN
Bit 2: P-OT Bit D: NEAR
Bit 3: N-OT Bit E: PSET
Bit 4: EXT1 Bit F: ZPOINT
Bit 5: EXT2 Bit 10: T_LIM
Bit 6: EXT3 Bit 11: V_LIM
Bit 7: ESTP Bit 12: V_CMP
Bit 8: Reserved for system. Bit 13: ZSPD
Bit 9: BRK_ON Bits 14 to 17: Reserved for system.
Bit A: P-SOT Bits 18 to 1F: Vendor Specific

 IL2A: M-III Servo Command Status SVC/SVC32

This parameter reports the Servo command information that was input to the MECHATROLINK-III. The
meanings of the bits depend on the Servo profile.
Register
Name Range Unit
Address
IL2A M-III Servo Command Status − −

Bits for the Standard Servo Profile

Bit 0: CMD_PAUSE_CMP Bit B: PON
Bit 1: CMD_CANCEL_CMP Bit C: M_RDY
Bits 2 and 3: Reserved for system. Bit D: SV_ON
Bits 4 and 5: ACCFIL Bits E and F: Reserved for system.
Bits 6 and 7: Reserved for system. Bits 10 to 13: SEL_MON1
Bit 8: L_CMP1 Bits 14 to 17: SEL_MON2
Bit 9: L_CMP2 Bits 18 to 1B: SEL_MON3
Bit A: POS_RDY Bit: 1C to 1F: Vendor Specific

SERVOPACK Status

 IW2C: M-III Command Status

Register
Name Range Unit
Address
IW2C M-III Command Status − −

 Bit 0: Drive Alarm (D_ALM) SVC/SVC32

0: No drive alarm.
1: Drive alarm occurred.

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 4.4 Motion Parameter Details
Monitor Parameter Details

 Bit 1: Drive Warning (D_WAR) SVC/SVC32

0: No drive warning.
1: Drive warning occurred.

 Bit 2: Command Ready (CMDRDY) SVC/SVC32

0: Commands cannot be received.

1: Commands can be received.

 Bit 3: Alarm Clear Execution Completed (ALM_CLR_CMP) SVC/SVC32

0: Alarms cleared.
1: Alarms not cleared.

 Bits 6 and 7: Echo-back of Command ID (RCMD_ID) SVC/SVC32

This parameter reports the echo-back value of the command ID of a MECHATROLINK command.

 Bits 8 to B: Command Error Status (CMD_ALM) SVC/SVC32

This parameter reports the error status of MECHATROLINK commands.

Code Description
0 No alarm
1 Outside data range
2 −
3 −
Warnings 4 −
5 −

Motion Parameters
6 −
7 −
8 Unsupported command received
9 Outside data range
A Command execution condition error
B Subcommand combination error
Alarms
C Phase error 4
D −
E −
F −

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 4.4 Motion Parameter Details
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 Bits C to F: Communications Error Status (COMM_ALM) SVC/SVC32

This parameter reports the MECHATROLINK communications error status.

Code Description
0 No alarm
1 FCS error
2 Reference data not received
3 Synchronous frame not received
Warnings 4 −
5 −
6 −
7 −
8 FCS error
9 Reference data not received
A Synchronous frame not received
B Synchronization interval error
Alarms
C WDT error
D −
E −
F −

 IW2D: SERVOPACK Alarm Code SVC/SVC32

This parameter reports the alarm code from the SERVOPACK in BCD.
Refer to the relevant SERVOPACK manual for details on alarm.
Register
Name Range Unit
Address
IW2D SERVOPACK Alarm Code −32,768 to 32,767 −

SERVOPACK User Monitor Information

 IW2F: SERVOPACK User Monitor Information SVC/SVC32

This parameter reports the monitor selection that was made by the user when using a SERVOPACK with
MECHATROLINK Communications.
Register
Name Range Unit
Address
IW2F SERVOPACK User Monitor Information − −
• Bits 0 to 3: Monitor 1
• Bits 4 to 7: Monitor 2
• Bits 8 to B: Monitor 3
• Bits C to F: Monitor 4

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Monitor Parameter Details

SERVOPACK Information

 IL30: SERVOPACK User Monitor 2 SVC/SVC32

This parameter reports the monitor results selected in bits 4 to 7 (Monitor 2) in the OW4E setting
parameter.
Register
Name Range Unit
Address
IL30 SERVOPACK User Monitor 2 −231 to 231−1 −

 IL34: SERVOPACK User Monitor 4 SVC/SVC32

This parameter reports the monitor results selected in bits C to F (Monitor 4) in the OW4E setting
parameter.
Register
Name Range Unit
Address
IW34 SERVOPACK User Monitor 4 −231 to 231−1 −

 IW36: SERVOPACK Parameter Number SVC/SVC32

This parameter reports the number of the SERVOPACK parameter that is being read or written using the
MECHATROLINK command area.
Refer to the following chapter for details.
Chapter 6 Motion Commands

Register
Name Range Unit
Address
IW36 SERVOPACK Parameter Number 0 to 65,535 −

Motion Parameters
 IW37: Auxiliary SERVOPACK Parameter Number SVC/SVC32

This parameter reports the number of the SERVOPACK parameter that is being read or written using the
MECHATROLINK subcommand area.
Refer to the following chapter for details.
Chapter 6 Motion Commands 4
Register
Name Range Unit
Address
IW37 Auxiliary SERVOPACK Parameter Number 0 to 65,535 −

 IL38: SERVOPACK Parameter Read Data SVC/SVC32

This parameter reports the contents of the SERVOPACK parameter that was read using the MECHA-
TROLINK command area.
Refer to the following chapter for details.
Chapter 6 Motion Commands

Register
Name Range Unit
Address
IL38 SERVOPACK Parameter Read Data −231 to 231−1 −

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 IL3A: Auxiliary SERVOPACK Parameter Read Data SVC/SVC32

This parameter reports the contents of the SERVOPACK parameter that was read using the MECHA-
TROLINK subcommand area.
Refer to the following chapter for details.
Chapter 6 Motion Commands

Register
Name Range Unit
Address
IL3A Auxiliary SERVOPACK Parameter Read Data −231 to 231−1 −

 IW3F: Motor Type SVC/SVC32

This parameter reports the type of the motor that is actually connected.
Register
Name Range Unit
Address
IW3F Motor Type 0, 1 −

0: Rotary motor
1: Linear motor

 IL40: Feedback Speed SVC/SVC32 SVR/SVR32

This parameter reports the feedback speed.

The IL40 monitor parameter (Feedback Speed) contains the value that is determined by the moving
average of fixed parameter No. 42 (Feedback Speed Movement Averaging Time Constant) and the unit-
converted difference between the value of IL16 (Machine Coordinate System Feedback Position
(APOS)) for each scan.
Register
Name Range Unit
Address
The unit that is set
in the Speed Unit
IL40 Feedback Speed −231 to 231−1 Selection bits is
used.

Precautions
The unit that is set in the Speed Unit Selection bits (bits 0 to 3 in the OW03 setting parameter) is
used for this parameter.

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Monitor Parameter Details

 IL42: Torque/Force Reference Monitor SVC/SVC32 SVR/SVR32

This parameter reports the value of the torque reference.

Register
Name Range Unit
Address
The unit that is set in
IL42 Torque/Force Reference Monitor -231 to 231−1 the Torque Unit Selec-
tion bits is used.

The unit that is set in the Torque Unit Selection bits (bits C to F in the OW03 setting parameter) is
used for this parameter.
Set the resolution of the Torque/Force Reference Monitor with common parameter No. 48.
Common Parameter No. 48
Common parameter No. 48 (Torque Base Unit) can be set in one of two ways: either manually or automat-
ically. Both of these methods are described below.

 Manual Setting
If you set bit D (Torque Base Unit of SERVOPACK) in fixed parameter No. 1 (Function Selection Flags 1)
to 0 (Set by user), you must set common parameter No. 48 manually.
Common Parameter No. Name Setting Range Factory Setting When Enabled
48 Torque Base Unit -5 to 0 0 After restart
Note: If you use a servo amplifier from another company, set the value of n in the following formula.
Setting unit for Torque Unit (common parameter No. 47) × 10n
The factory setting of the Torque Base Unit parameter is 0, so 1 in the Torque/Force Reference Monitor
parameter indicates 1% (resolution: 1%). For example, to make 1 in the Torque/Force Reference Monitor
parameter indicate 0.01%, set common parameter No. 48 to -2.

 Automatic Setting

Motion Parameters
If you set bit D (Torque Base Unit of SERVOPACK) in fixed parameter No. 1 (Function Selection Flags 1)
to 1 (Set by system), the Machine Controller will automatically set common parameter No. 48 (Torque
Base Unit) to -4.
Refer to the following section for details.
4.4 Motion Parameter Details –  No. 1: Function Selection Flags 1 − Bit D: Torque Base Unit of SERVOPACK (page 4-34)

4
Auxiliary Information

 IL56: Fixed Parameter Monitor SVC/SVC32 SVR/SVR32

This parameter reports the data of the specified fixed parameter number when bit 5 (Read Fixed Parame-
ter) is specified for the OW0A setting parameter (Motion Subcommands).
Register
Name Range Unit
Address
IL56 Fixed Parameter Monitor -231 to 231−1 −

 IW5B: Device Information Monitor Code SVC/SVC32

This parameter reports the code for the information that was read with the INF_RD (Read Device Infor-
mation) motion subcommand.

4-99
 4.4 Motion Parameter Details
Monitor Parameter Details

Register
Name Range Unit
Address
IW5B Device Information Monitor Code 0 to 65,535 −
00 hex: Disabled 03 hex: Device version
01 hex: Vendor ID code 04 hex: Device information file version
02 hex: Device code 05 hex: Serial number

Absolute Infinite-length Position Management Information

 IL5E: Power OFF Encoder Position (Lower 2 Words) and

IL60: Power OFF Encoder Position (Upper 2 Words) SVC/SVC32
These parameters store information for infinite-length position management when an absolute encoder is
used.
The encoder position is stored in 4 words.
Register
Name Range Unit
Address
IL5E Power OFF Encoder Position (Lower 2 Words) −231 to 231−1 pulse
IL60 Power OFF Encoder Position (Upper 2 Words) 31 31 pulse
−2 to 2 −1

 IL62: Power OFF Pulse Position (Lower 2 Words) and

IL64: Power OFF Pulse Position (Upper 2 Words) SVC/SVC32
These parameters store information for infinite-length position management when an absolute encoder is
used.
The axis pulse position that is managed internally by the Machine Controller is stored in 4 words.
Register
Name Range Unit
Address
IL62 Power OFF Pulse Position (Lower 2 Words) −231 to 231−1 pulse
IL64 Power OFF Pulse Position (Upper 2 Words) 31 31 pulse
−2 to 2 −1

Reserved for Future Use

 IW70 to IW7F: Device Information Monitor Data SVC/SVC32

This parameter is reserved for future use. It reports the information that was read with the INF_RD (Read
Device Information) motion subcommand.
Register
Name Range Unit
Address
IW70
to Device Information Monitor Data − −
IW7F

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 4.4 Motion Parameter Details
Monitor Parameter Details

SERVOPACK Transmission Reference Mode

 IW68 to IW7F: Response Buffers for SERVOPACK Transmis-

sion Reference Mode SVC/SVC32
This region stores MECHATROLINK Servo responses.
These parameters are used in SERVOPACK Transmission Reference Mode only. Set fixed parameter No.
0 (Operation Mode Selection) to 3 (SERVOPACK Transmission Reference Mode).
Refer to the following section for details.
Fixed Parameter Details − No. 0: Operation Mode Selection (page 4-30)

Register
Name Range Unit
Address
IW68
Response Buffers for SERVOPACK Transmission Ref-
to − −
erence Mode
IW7F

Motion Parameters
4

4-101
 Example Parameter
Settings
5
This chapter provides example settings of motion parameter for
different machines.

5.1 Examples of Machine-specific Motion Parameter Settings . . . . 5-2

Reference Unit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-2
Electronic Gear . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-3
Axis Selection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-5
Position Reference . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-6
Speed Reference . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-9
Acceleration/Deceleration Settings . . . . . . . . . . . . . . . . . . . . 5-12
Acceleration/Deceleration Filter Settings . . . . . . . . . . . . . . . 5-15
Linear Scale Pitch and Rated Speed . . . . . . . . . . . . . . . . . . 5-16
 5.1 Examples of Machine-specific Motion Parameter Settings
Reference Unit

5.1 Examples of Machine-specific Motion Parameter Settings

Set the motion parameters for the following eight items according to the machine’s specifications to
ensure correct motion control.
• Reference Unit
• Electronic Gear
• Axis Selection
• Position Reference
• Speed Reference
• Acceleration/Deceleration Settings
• Acceleration/Deceleration Filter Settings
• Linear Scale Pitch/Rated Speed (when using a linear motor)
Detailed example settings for the parameters for the above eight items are provided in the following sec-
tions.

Reference Unit
The motion control reference unit can be set to pulses, mm, degrees, inches, or μm. The reference unit is
set in fixed parameter No. 4 (Reference Unit Selection). The minimum reference unit is determined by the
setting in fixed parameter No. 5 (Number of Digits Below Decimal Point).
Fixed Parameter Fixed Parameter No. 4 (Reference Unit Selection)
No. 5 (Number of
Digits Below Deci- 0: Pulses 1: mm 2: Degrees 3: Inches 4: μm
mal Point)
0: 0 digits 1 pulse 1 mm 1 deg 1 inch 1 μm
1: 1 digit 1 pulse 0.1 mm 0.1 deg 0.1 inch 0.1 μm
2: 2 digits 1 pulse 0.01 mm 0.01 deg 0.01 inch 0.01 μm Minimum
Minimu
reference
3: 3 digits 1 pulse 0.001 mm 0.001 deg 0.001 inch 0.001 μm unit
4: 4 digits 1 pulse 0.0001 mm 0.0001 deg 0.0001 inch 0.0001 μm
5: 5 digits 1 pulse 0.00001 mm 0.00001 deg 0.00001 inch 0.00001 μm

5-2
 5.1 Examples of Machine-specific Motion Parameter Settings
Electronic Gear

Electronic Gear
The amount of change in the mechanical system (i.e., the travel distance) for the input of 1 reference unit
is called the output unit. The electronic gear converts positions or speeds from reference units to output
units for the mechanical system without going through an input mechanism, such as a gear.
If the mechanical configuration is such that rotating the Servomotor axis m times results in rotating the
load axis n times, this electronic gear can be used to make the output units equivalent to the reference
units.
The electronic gear is set with the following fixed parameters.
• No. 6 (Travel Distance per Machine Rotation)
• No. 8 (Servomotor Gear Ratio Term)
• No. 9 (Machine Gear Ratio Term)

The electronic gear cannot be used if fixed parameter No. 4 (Reference Unit Selection) is set to 0
(Pulses).
Note

The following examples show the settings for a ball screw and rotary table.

Example Parameter Settings for a Ball Screw

• Machine specifications: The ball screw axis rotates 5 times for every 7 rotations of the motor axis. (Refer
to the following figure.)
• Reference unit: 0.001 mm
Motor
m = 7 rotations

Example Parameter Settings

Workpiece

Ball screw

P (pitch) = 6 mm per rotation

n = 5 rotations

To move the workpiece 0.001 mm for 1 reference unit input under the above conditions, i.e., for 1 refer-
ence unit to equal 1 output unit, make the following settings for fixed parameters No. 6, No. 8, and No. 9.
• No. 6 (Travel Distance per Machine Rotation): 6 mm/0.001 mm = 6,000 (reference units) 5
• No. 8 (Servomotor Gear Ratio Term): m = 7
• No. 9 (Machine Gear Ratio Term): n = 5

Set the SERVOPACK electronic gear ratio to 1:1. However, if you are using a Σ-7-series SERVO-
PACK, refer to the following section and set the electronic gear in the SERVOPACK.
Note 11.8 Precautions When Using Σ-7-series SERVOPACKs (page 11-39)

5-3
 5.1 Examples of Machine-specific Motion Parameter Settings
Electronic Gear

Example Parameter Settings for a Rotary Table

• Machine specifications: The rotary table axis rotates 10 times for every 30 rotations of the motor axis.
(Refer to the following figure.)
• Reference unit: 0.1°
Workpiece (rotary table)

360 per rotation

n = 10 rotations

m = 30 rotations

Motor

To rotate the rotary table 0.1° for 1 reference unit input under the above conditions, i.e., for 1 reference
unit to equal 1 output unit, make the following settings for fixed parameters No. 6, No. 8, and No. 9.
• No. 6 (Travel Distance per Machine Rotation): 360°/0.1° = 3,600 (reference units)
• No. 8 (Servomotor Gear Ratio Term): m = 30
• No. 9 (Machine Gear Ratio Term): n = 10

Set the SERVOPACK electronic gear ratio to 1:1. However, if you are using a Σ-7-series SERVO-
PACK, refer to the following section and set the electronic gear in the SERVOPACK.
Note 11.8 Precautions When Using Σ-7-series SERVOPACKs (page 11-39)

Information The result will be the same as long as the ratio between the settings for fixed parameters No. 8 and
No. 9 (m/n) is constant, e.g., m = 3 and n = 1.

Electronic Gear Conversion

The formulas for electronic gear conversion are as follows:

 Reference Units to Pulses

No. 36 (Number of Pulses per Motor Rotation) × No. 8 (Servomotor Gear Ratio Term)
Travel distance (pulses) = Travel distance (reference units) ×
No. 6 (Travel Distance per Machine Rotation) × No. 9 (Machine Gear Ratio Term)

 Pulses to Reference Units

No. 6 (Travel Distance per Machine Rotation) × No. 9 (Machine Gear Ratio Term)
Travel distance (reference units) = Travel distance (pulses) ×
No. 36 (Number of Pulses per Motor Rotation) × No. 8 (Servomotor Gear Ratio Term)

5-4
 5.1 Examples of Machine-specific Motion Parameter Settings
Axis Selection

Axis Selection
There are two types of position control: finite-length axis position control for round-trip operation and
other tasks that are performed only within a specified range, and infinite-length axis position control that
is used for rotation in one direction only. Infinite-length axis position control can work in one of two ways:
It can be used to reset the position data to 0 after one rotation, e.g, for belt conveyors, or to simply rotate in
one direction only, without resetting the position after one rotation. The Axis Selection parameter sets
which of these types of position control to use.
The parameters that are related to axis selection are listed in the following table.
Parameter
No. Name Description Default
Type
This parameter specifies the position control
method for the controlled axis.
0: Finite-length axis
This is an axis that uses finite-length axis posi-
tion control or an axis that uses infinite-length
Function Selec-
axis position control that rotates in one direc-
No.1 Bit 0 tion Flags 1, Axis 0
tion only and does not reset its position data
Fixed Parame- Selection
after every rotation.
ters
1: Infinite-length axis
This is an axis that uses infinite-length axis
position control that resets position data after
every rotation.
Infinite-length This parameter sets the reset position of the posi-
No.10 Axis Reset Posi- tion data when the Axis Selection parameter is 360,000
tion (POSMAX) set to 1 (Infinite-length axis).

Example Parameter Settings

5-5
 5.1 Examples of Machine-specific Motion Parameter Settings
Position Reference

Position Reference
The target position for position control is set in the OL1C setting parameter (Position Reference
Setting). There are two different methods of setting the position reference: the absolute value specification
method, which sets the coordinate data for the target position directly, and the incremental addition
method, which adds the current travel amount to the previous position reference value.
The parameters that are related to setting the position reference are listed in the following table.
Parameter
Register Address Name Description Default
Type
This parameter specifies the type of position refer-
ence data.
0: Incremental value addition method
Position
This method sets OL1C to the current value
OW09 Bit 5 Reference 0
of OL1C plus the current travel distance.
Type
1: Absolute value specification method
This method sets OL1C to the coordinate
value of the target position.
This parameter sets the position data.
• If the incremental value addition method is used
(i.e., if bit 5 in OW09 is set to 0), the current
travel distance (incremental amount) is added to
Setting the current value of OL1C.
Parameters OL1C = OL1C + Incremental travel
distance
Example:
Position
If the current travel distance is 500 and the previ-
OL1C Reference 0
ous value of OL1C is 1,000, OL1C
Setting
will equal 1,000 + 500 or 1,500.
• If the absolute value specification method is used
(i.e., if bit 5 in OW09 is set to 1), this param-
eter is set to the coordinate value of the target posi-
tion.
Example:
Set OL1C to 10,000 to move to the position
10,000.

The following table compares the merits and demerits of the incremental value addition and absolute value
specification methods.
Position
Merit Demerit
Reference Type
It is not necessary to consider the relation- OL1C does not equal the target position,
Incremental value
ship between OL1C and the current so the position reference can be difficult to
addition method
position when a move is canceled. understand intuitively.
The current position must be set in
OL1C whenever the power supply is
turned ON or a move is canceled. If this opera-
Absolute value
The coordinate of the target position is speci- tion is not performed, the axis may move sud-
specification
fied directly, making it easy to understand. denly when a movement motion command is
method
started.
This method also makes the target position dif-
ficult to manage for infinite-length axes.

5-6
 5.1 Examples of Machine-specific Motion Parameter Settings
Position Reference

Setting the Target Position for an Infinite-length Axis

There are two methods that you can use to set the target position when an infinite-length axis is used.
In the following cases, use method 1 to set the target position.
• When executing a POSING command when no command (NOP) is being executed
• When changing the target position based on the current position when a POSING command is being
executed
• When changing to a POSING command when a non-POSING command is being executed
In the following cases, use method 2 to set the target position.
• When changing the target position based on the original target position when a POSING command is
being executed

 Setting Method 1

 Using the Incremental Value Addition Method (When Bit 5 in OW09 Is Set to 0)

Issue the reference only when reference pulse distribution has been completed (i.e., when bit 0 in
IW0C is 1).
Note

Incremental value = Target position (a value between 0 and POSMAX) - IL10 (CPOS) + POSMAX
×n
OL1C = OL1C + Incremental value
n is the number of POSMAX turns needed to move from the current position (CPOS) to the target posi-
tion. When the distance between the target position and the current position is within the first turn, n is 0.

Example Parameter Settings

 Using the Absolute Value Specification Method (When Bit 5 in OW09 Is Set to 1)

In this case, the reference can be issued even when reference pulse distribution has not been completed
(i.e., even when bit 0 in IW0C is 0).
Note

Incremental value = Target position (a value between 0 and POSMAX) - IL10 (CPOS) + POSMAX
×n
OL1C = IL14 (DPOS) + Incremental value 5
n is the number of POSMAX turns needed to move from the current position (CPOS) to the target posi-
tion. When the distance between the target position and the current position is within the first turn, n is 0.

5-7
 5.1 Examples of Machine-specific Motion Parameter Settings
Position Reference

Example When n = 2

Current Position Target Position

(0 to POSMAX) (0 to POSMAX)

POSMAX
IL10 (CPOS)
IL12 (MPOS)
IL16 (APOS)
IL18 (LPOS)
0

231-1

IL0E (TPOS)
0
IL14 (DPOS)

-231

 Setting Method 2

 Using the Incremental Value Addition Method (When Bit 5 in OW09 Is Set to 0)
Incremental value = Target position (a value between 0 and POSMAX) - Previous target position (a value
between 0 and POSMAX) + POSMAX × n
OL1C = OL1C + Incremental value
Previous target position: The directly specified value or the value that was stored in a location such as an
M register.
n is the number of POSMAX turns needed to move from the current position (CPOS) to the target posi-
tion. When the distance between the target position and the current position is within the first turn, n is 0.

 Using the Absolute Value Specification Method (When Bit 5 in OW09 Is Set to 1)

Make sure that the absolute value specification method setting is retained after the target position is
changed.
Note

Incremental value = Target position (a value between 0 and POSMAX) - Previous target position (a value
between 0 and POSMAX) + POSMAX × n
OL1C = IL14 (DPOS) + Incremental value
Previous target position: The directly specified value or the value that was stored in a location such as an
M register.
n is the number of POSMAX turns needed to move from the current position (CPOS) to the target posi-
tion. When the distance between the target position and the current position is within the first turn, n is 0.

5-8
 5.1 Examples of Machine-specific Motion Parameter Settings
Speed Reference

Example When n = −2

Target Position Target Position before

Change
(0 to POSMAX) (0 to POSMAX)

POSMAX

IL10 (CPOS)
IL12 (MPOS)
IL16 (APOS)
IL18 (LPOS)
0

231-1

IL0E (TPOS)
IL14 (DPOS) 0

-231

Speed Reference

Example Parameter Settings

There are two methods of setting the speed reference for the feed speed or other speeds. One method
involves using reference units and the other method involves setting the percentage (%) of the rated speed.
The setting method depends on the set values of the related parameters.
The parameters that are related to the speed reference are listed in the following table.
Parameter/
Parameter
Register Name Description Default
Type
Address
This parameter sets the number of digits below the decimal
point in the reference unit. The minimum reference unit is 5
Number of determined by this parameter and fixed parameter No. 4
Digits
(Reference Unit Selection).
No. 5 Below 3
Example:
Decimal
When the Reference Unit Selection parameter is set to mm
Point
and the Number of Digits Below Decimal Point parameter
Fixed is set to 3, a reference unit of 1 will be 0.001 mm.
Parameters Rated This parameter sets the number of rotations when the
No. 34 Motor motor is rotated at the rated speed (100% speed). Set this 3,000
Speed parameter according to the specifications of the motor.
Number of This parameter sets the number of pulses per Servomotor
Pulses per rotation.
No. 36 65,536
Motor Rota- Example:
tion For a 16-bit encoder, set this parameter to 216 = 65,536.
Continued on next page.

5-9
 5.1 Examples of Machine-specific Motion Parameter Settings
Speed Reference

Continued from previous page.

Parameter/
Parameter
Register Name Description Default
Type
Address
This parameter sets the unit for the reference speed.
0: Reference units/s
OW03 Speed Unit 1: 10n reference units/min (n: Number of digits below the 1
Bits 0 to 3 Selection decimal point)
2: 0.01%
3: 0.0001%
This parameter sets the feed speed. The unit for the speed
is set in bits 0 to 3 (Speed Unit Selection) of OW03.
Example:
When the number of digits below the decimal point is set to
3, the settings are as follows:
• When the Speed Unit Selection Is Set to 0 (Reference
Unit/s):
Pulse unit: 1 = 1 pulse/s
mm unit: 1 = 0.001 mm/s
Setting Degree unit: 1 = 0.001 deg/s
Parameters Speed Inch unit: 1 = 0.001 inches/s
OL10 Reference 3,000
μm unit: 1 = 0.001 μm/s
Setting
• When the Speed Unit Selection Is Set to 1 (10n reference
unit/min):
Pulse unit: 1 = 1,000 pulses/min
mm unit: 1 = 1 mm/min
Degree unit: 1 = 1 deg/min
Inch unit: 1 = 1 inch/min
μm unit: 1 = 1 μm/s
• When the Speed Unit Selection Is Set to 2 (0.01%):
In this case, the speed is set as a percentage of the rated
speed, regardless of the reference unit (1 = 0.01%).
You can set an output ratio (%) for the set value of this
parameter to change the feed speed without changing the
OW18 Override 10,000
Speed Reference Setting.
Setting unit: 1 = 0.01%

5-10
 5.1 Examples of Machine-specific Motion Parameter Settings
Speed Reference

Example Settings for the OL10 Setting Parameter (Speed

Reference Setting)
Given the following fixed parameter settings, the following table lists examples of the OL10 set-
tings that are required to achieve the target feed speed (reference speed).
• No. 5 (Number of Digits Below Decimal Point) = 3
• No. 34 (Rated Motor Speed) = 3,000 min-1
• No. 36 (Number of Pulses per Motor Rotation) = 65,536 P/R
OW03 Fixed Parame-
Setting Parameter ter No. 4 (Ref-
Reference Speed Example OL10 Setting
(Speed Unit Selec- erence Unit
tion) Selection)
500 R/s 500 (R/s) × 65,536 (pulse/R) = 37,268,000 (pulse/s)
Pulses 1,500 (min-1) × 65,536 (pulse/R) ÷ 60 (s) =
1,500 min-1
1,638,400 (pulse/s)
Feed speed of 500 500 (mm/s) ÷ 0.001 = 500,000 (0.001 mm/s)
mm/s with a The speed is determined by the feed speed and the
machine that trav- number of digits below the decimal point (0.001 in
0 els 10 mm for each the above equation), regardless of the machine con-
(Reference units/s) rotation figuration.
mm 900 (mm/min) ÷ 0.001 ÷ 60 (s) = 15,000 (0.001
Feed speed of 900
mm/s)
mm/min with a
The speed is determined by the feed speed and the
machine that trav-
number of digits below the decimal point (0.001 in
els 10 mm for each
the above equation), regardless of the machine con-
rotation
figuration.
500 (R/s) × 65,536 (pulse/R) ÷ 1,000) × 60 (s) =
500 R/s 1,966,080 (1,000 pulse/min)
“1,000” = 10n (n=3)
Pulses

Example Parameter Settings

1,500 (min-1) × 65,536 (pulse/R) ÷ 1,000 = 98,304
-1 (1,000 pulse/min)
1,500 min
1 “1,000” = 10n (n = 3)
n (500 (mm/s) ÷ 0.001) ÷ 1,000 × 60 (s) = 30,000
(10 reference units/
Feed speed of 500
min) (mm/min)
mm/s with a
n: Number of digits The speed is determined by the feed speed and the
machine that trav-
below the decimal number of digits below the decimal point (0.001 in
els 10 mm for each
point the above equation), regardless of the machine con-
mm rotation
figuration.
(n = 3)
Feed speed of 900
mm/min with a (900 (mm/min) ÷ 0.001) ÷ 1,000 = 900 (mm/min) 5
machine that trav- The speed is determined by the feed speed, regard-
els 10 mm for each less of the machine configuration.
rotation
(1,500 (min-1) ÷ 3,000 (min-1)) × 100 (%) ÷ 0.01 =
2 5,000 (0.01%)
− 1,500 min-1
(0.01%) The speed is determined by the ratio (percentage) of
the feed speed to the rated speed.

5-11
 5.1 Examples of Machine-specific Motion Parameter Settings
Acceleration/Deceleration Settings

Example Settings for the OW18 Setting Parameter (Override)

The OW18 setting parameter sets the speed as a percentage (output ratio) of the target feed speed in
0.01% increments. OW18 is set independently of the Reference Unit Selection, Number of Digits
Below Decimal Point, and other parameters.
<Example Settings>
Output ratio of 25%: 25 ÷ 0.01 = 2,500
50%: 50 ÷ 0.01 = 5,000
75%: 75 ÷ 0.01 = 7,500
100%: 100 ÷ 0.01 = 10,000

Acceleration/Deceleration Settings
There are two methods that you can use to set the acceleration and deceleration rate: One sets the acceler-
ation and deceleration directly, and the other sets the time required to reach the rated speed from a speed of
zero. The setting method depends on the set values of the related parameters.

Related Parameters
The parameters that are related to acceleration and deceleration rate settings are listed in the following
table.
Parameter/
Parameter
Register Name Description Default
Type
Address
This parameter sets the number of digits below the decimal
point in the reference unit. The minimum reference unit is
Number of determined by this parameter and fixed parameter No. 4
Digits (Reference Unit Selection).
No. 5 Below Example: 3
Decimal When the Reference Unit Selection parameter is set to
Point mm and the Number of Digits Below Decimal Point
Fixed parameter is set to 3, a reference unit of 1 will be 0.001
Parameters mm.
Rated This parameter sets the number of rotations when the
No. 34 Motor motor is rotated at the rated speed (100% speed). Set this 3,000
Speed parameter according to the specifications of the motor.
Number of This parameter sets the number of pulses per Servomotor
Pulses per rotation.
No. 36 65,536
Motor Rota- Example:
tion For a 16-bit encoder, set this parameter to 216 = 65,536.
Continued on next page.

5-12
 5.1 Examples of Machine-specific Motion Parameter Settings
Acceleration/Deceleration Settings

Continued from previous page.

Parameter/
Parameter
Register Name Description Default
Type
Address
Accelera- This parameter sets the unit for the acceleration/decelera-
tion/Decel- tion rate.
OW03
eration Rate 1
Bits 4 to 7
Unit 0: Reference units/s2
Selection 1: ms
This parameter sets the acceleration rate or the acceleration
time constant based on the setting in bits 4 through 7 in
OW03.
• When the Acceleration/Deceleration Rate Unit Selection
is set to 0 (Reference units/s2), this parameter sets the
acceleration rate.
Pulse unit: 1 = 1 pulse/s2
mm unit: 1 = 1 reference unit/s2
Linear
Accelera- Degree unit: 1 = 1 reference unit/s2
tion Rate/ Inch unit: 1 = 1 reference unit/s2
OL36 0
Accelera- μm unit: 1 = 1 reference unit/s2
tion Time Example: When the number of digits below the decimal
Constant point is set to 3:
mm unit: 1 = 0.001 mm/s2
Setting
Degree unit: 1 = 0.001 deg/s2
Parameters
Inch unit: 1 = 0.001 inches/s2
μm unit: 1 = 0.001 μm/s2
• When the Acceleration/Deceleration Rate Unit Selection
is set to 1 (ms), this parameter sets the time constant from
0 to the rated speed, regardless of the reference unit.
This parameter sets the deceleration rate or the deceleration

Example Parameter Settings

time constant based on the setting in bits 4 through 7 in
OW03.
• When the Acceleration/Deceleration Rate Unit Selection
is set to 0 (Reference units/s2), this parameter sets the
Linear deceleration rate.
Decelera-
tion Rate/ Pulse unit: 1 = 1 pulse/s2
OL38 0
Decelera- mm unit: 1 = 1 reference unit/s2
tion Time Degree unit: 1 = 1 reference unit/s2
Constant
Inch unit: 1 = 1 reference unit/s2
μm unit: 1 = 1 reference unit/s2 5
• When the Acceleration/Deceleration Rate Unit Selection
is set to 1 (ms), this parameter sets the time constant from
the rated speed to 0, regardless of the reference unit.

5-13
 5.1 Examples of Machine-specific Motion Parameter Settings
Acceleration/Deceleration Settings

Acceleration/Deceleration Rate Unit Selection and Speed Changes

Over Time
The set values for the OL36 setting parameter (Linear Acceleration Rate/Acceleration Time Con-
stant) and OL38 (Linear Deceleration Rate/Deceleration Time Constant) are handled differently
based on the setting in bits 4 through 7 in OW03 (Acceleration/Deceleration Rate Unit Selection).

 When Bits 4 to 7 in OW03 Are Set to 0 (Reference Units/s2)

The set values of OL36 and OL38 are treated as the linear acceleration rate and linear decel-
eration rate, respectively.
Speed
(%)
(100%)

Reference Speed

Linear Linear
Acceleration Deceleration
Rate Rate
OL36 OL38
0 Time
(t)
Time required to reach the Time required to reach
reference speed = a speed of zero =
Reference speed ÷ Reference speed ÷
Linear acceleration rate Linear deceleration rate

 When Bits 4 to 7 in OW03 Are Set to 1 (ms)

The set value of OL36 is treated as the linear acceleration time constant, or the time required to
reach the rated speed from a speed of zero using linear acceleration. The set value of OL38 is
treated as the linear deceleration time constant, or the time required to reach a speed of zero from the rated
speed using linear deceleration.
Speed
(%)
(100%)

Reference Speed

0 Time
(t)
Linear Acceleration Linear Deceleration
Time Constant Time Constant
(OL36) (OL38)

For the following commands, acceleration/deceleration processing is performed by the SERVOPACK.

1: POSING 7: FEED
2: EX_POSING 8: STEP
3: ZRET 34: EX_FEED

5-14
 5.1 Examples of Machine-specific Motion Parameter Settings
Acceleration/Deceleration Filter Settings

Acceleration/Deceleration Filter Settings

There are two types of acceleration/deceleration filters: an exponential acceleration/deceleration filter and
a moving average filter. These filter settings can be used to set non-linear acceleration/deceleration curves.

Related Parameters
The parameters that are related to acceleration/deceleration filter settings are listed in the following table.
Parameter Register
Name Description Default
Type Address
This parameter sets the acceleration/deceleration fil-
ter type.
0: No filter
1: Exponential acceleration/deceleration filter
OW03 Filter Type
2: Moving average filter 0
Bits 8 to B Selection
The Change Filter Type (CHG_FILTER) motion
Setting Param-
command must be executed to enable the setting
eters
of the Filter Type Selection parameter (i.e.,
OW08 must be set to 13).
Set the acceleration/deceleration filter time constant.
Filter Time Always make sure that pulse distribution has been
OW3A 0
Constant completed (i.e., that bit 0 in IW0C is 1)
before you change the filter time constant.

Acceleration/Deceleration Patterns
The following figures show the relationship between acceleration/deceleration patterns and each parame-
ter setting.

Example Parameter Settings

Filter Type Selection

OW03 Bits 8 to B = 0 OW03 Bits 8 to B = 1 OW03 Bits 8 to B = 2

No Filter Exponential Acceleration/Deceleration Filter Moving Average Filter

No
Acceleration/
Deceleration

OL36
=0
OL38
=0
*The curve depends on the set OW3A OW3A
*STEP input
value of OW3A. 5
OW3A

With
Acceleration/
Deceleration

OL36 OL38 OL36 OL38 OW3A

*The curve depends on the relationship OL36 OL38
between the set values of OW3A,
OL36, and OL38.

5-15
 5.1 Examples of Machine-specific Motion Parameter Settings
Linear Scale Pitch and Rated Speed

If an exponential acceleration/deceleration filter is used with the SVR or SVR32 Function Module,
you can use the set value for the OW3B setting parameter (Bias Speed for Indexed Deceleration/
Acceleration Filter).
Note
If the speed goes higher than the value of OW3B, the exponential acceleration/deceleration filter
is enabled.

Exponential acceleration/deceleration filter is enabled.

OW3B
Exponential acceleration/deceleration filter is disabled.

Linear Scale Pitch and Rated Speed

When a linear motor is used, set the following fixed parameters according to the specifications of the lin-
ear motor.
• No. 6 (Linear Scale Pitch)
• No. 34 (Rated Speed)
• No. 36 (Number of Pulses per Linear Scale Pitch)

Example Settings Based on the Linear Motor Specifications

 Example Settings 1
The following table lists example settings for the following linear motor specifications.
• Linear scale pitch: 20 (μm)
• Serial converter resolution: 8 (bits)
• Rated speed: 1.5 (m/s)
Fixed Param- Unit and Number of Digits
eter No. 4 below the Decimal Point for
Example Settings
(Reference the Linear Scale Pitch and
Unit Selection) Rated Speed
Linear scale pitch: 20 (μm)
Linear scale pitch: μm
Pulses Rated speed: 15 (0.1 m/s)
When the rated speed is 0.1 m/s.
Number of pulses per linear scale pitch: 256 (pulses) = 28
Linear scale pitch: 20 (μm)
Number of digits below the deci- Rated speed: 15 (0.1 m/s)
mm
mal point: 3
Number of pulses per linear scale pitch: 256 (pulses) = 28
Linear scale pitch: 20 (μm)
Number of digits below the deci- Rated speed: 15,000 (0.1 mm/s)
μm
mal point: 0
Number of pulses per linear scale pitch: 256 (pulses) = 28

1. In the following cases, set fixed parameter No. 34 (Rated Speed) in units of 0.1 m/s.
• When fixed parameter No. 4 (Reference Unit Selection) is set to 0 (Pulses)
• When fixed parameter No. 6 (Linear Scale Pitch) is set in μm
Note
2. In the following case, set fixed parameter No. 34 (Rated Speed) in units of 0.1 mm/s.
• When fixed parameter No. 6 (Linear Scale Pitch) is set in nm

5-16
 5.1 Examples of Machine-specific Motion Parameter Settings
Linear Scale Pitch and Rated Speed

 Example Settings 2
The following table lists example settings for the following linear motor specifications.
• Linear scale pitch: 400 (nm)
• Serial converter resolution: 9 (bits)
• Rated speed: 1.5 (m/s)
Fixed Param- Unit and Number of Digits
eter No. 4 below the Decimal Point for
Example Settings
(Reference the Linear Scale Pitch and
Unit Selection) Rated Speed
Linear scale pitch: nm Linear scale pitch: 400 (nm)
Pulses When the rated speed is 0.1 mm/ Rated speed: 15,000 (0.1 mm/s)
s. Number of pulses per linear scale pitch: 512 (pulses) = 29
Linear scale pitch: 40 (reference units)
Number of digits below the deci- 400 (nm) = 40 (0.00001 mm)
mm Rated speed: 15 (0.1 m/s)
mal point: 5
Number of pulses per linear scale pitch: 512 (pulses) = 29
Linear scale pitch: 400 (reference units)
Number of digits below the deci- 400 (nm) = 400 (0.001 μm)
μm Rated speed: 15,000 (0.1 mm/s)
mal point: 3
Number of pulses per linear scale pitch: 512 (pulses) = 29

1. In the following cases, set fixed parameter No. 34 (Rated Speed) in units of 0.1 m/s.
• When fixed parameter No. 4 (Reference Unit Selection) is set to 0 (Pulses)
• When fixed parameter No. 6 (Linear Scale Pitch) is set in μm
Note
2. In the following case, set fixed parameter No. 34 (Rated Speed) in units of 0.1 mm/s.
• When fixed parameter No. 6 (Linear Scale Pitch) is set in nm

Example Parameter Settings

5-17
 6
Motion Commands

This chapter describes how to use the motion commands and sub-
commands, and it describes the related parameters and timing
charts.

6.1 Motion Commands . . . . . . . . . . . . . . . . . . . . . . . . 6-3

6.2 Motion Command Details . . . . . . . . . . . . . . . . . . . 6-6

POSING (Positioning) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-6
EX_POSING (External Positioning) . . . . . . . . . . . . . . . . . . . 6-13
ZRET (Zero Point Return) . . . . . . . . . . . . . . . . . . . . . . . . . . 6-21
INTERPOLATE (Interpolation) . . . . . . . . . . . . . . . . . . . . . . . 6-43
LATCH (Latch) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-47
FEED (Jog) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-51
STEP (STEP Operation) . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-56
ZSET (Set Zero Point) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-62
ACC (Change Acceleration Time) . . . . . . . . . . . . . . . . . . . . 6-64
DCC (Change Deceleration Time) . . . . . . . . . . . . . . . . . . . . 6-66
SCC (Change Filter Time Constant) . . . . . . . . . . . . . . . . . . . 6-68
CHG_FILTER (Change Filter Type) . . . . . . . . . . . . . . . . . . . 6-70
KVS (Change Speed Loop Gain) . . . . . . . . . . . . . . . . . . . . . 6-72
KPS (Change Position Loop Gain) . . . . . . . . . . . . . . . . . . . . 6-74
KFS (Change Feedforward) . . . . . . . . . . . . . . . . . . . . . . . . . 6-76
PRM_RD (Read SERVOPACK Parameter) . . . . . . . . . . . . . 6-78
PRM_WR (Write SERVOPACK Parameter) . . . . . . . . . . . . . 6-80
ALM_MON (Monitor Alarms) . . . . . . . . . . . . . . . . . . . . . . . . 6-82
ALM_HIST (Monitor Alarm History) . . . . . . . . . . . . . . . . . . . 6-84
ALMHIST_CLR (Clear Alarm History) . . . . . . . . . . . . . . . . . 6-86
ABS_RST (Reset Absolute Encoder) . . . . . . . . . . . . . . . . . . 6-88
VELO (Issue Speed Reference) . . . . . . . . . . . . . . . . . . . . . . 6-89
TRQ (Issue Torque/Force Reference) . . . . . . . . . . . . . . . . . 6-95
PHASE (Issue Phase Reference) . . . . . . . . . . . . . . . . . . . . 6-100
KIS (Change Position Loop Integral Time Constant) . . . . . 6-104
 PPRM_WR (Write Non-volatile Parameter) . . . . . . . . . . . . 6-106
EX_FEED (Jog with External Positioning) . . . . . . . . . . . . . 6-109
MEM_RD (Read Memory) . . . . . . . . . . . . . . . . . . . . . . . . . 6-115
MEM_WR (Write Memory) . . . . . . . . . . . . . . . . . . . . . . . . . 6-117
PMEM_RD (Read Non-volatile Memory) . . . . . . . . . . . . . . 6-119
PMEM_WR (Write Non-volatile Memory) . . . . . . . . . . . . . . 6-121

6.3 Motion Subcommands . . . . . . . . . . . . . . . . . . . 6-123

6.4 Motion Subcommand Details . . . . . . . . . . . . . . 6-124

NOP (No Command) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-124
PRM_RD (Read SERVOPACK Parameter) . . . . . . . . . . . . 6-125
PRM_WR (Write SERVOPACK Parameter) . . . . . . . . . . . . 6-128
INF_RD (Read Device Information) . . . . . . . . . . . . . . . . . . 6-130
SMON (Monitor Status) . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-132
FIXPRM_RD (Read Fixed Parameter) . . . . . . . . . . . . . . . . 6-134
FIXPRM_CHG (Change Fixed Parameter) . . . . . . . . . . . . 6-136
 6.1 Motion Commands

6.1 Motion Commands

The following table lists the motion commands that are supported by the Machine Controllers.
Refer to the pages given in the Reference Column for details on individual commands.

1. Motion commands are controlled from user programs, such as ladder and motion programs.
2. Refer to the following section for details on resetting an absolute encoder or setting the multi-turn
limit from the Machine Controller.
Note
MEM_WR (Write Memory) (page 6-117)

Command
Command Name Introduction Reference
Code
No Operation
0 NOP − −
(No command)
Performs positioning to the specified POSING
1 POSING Positioning position at the specified acceleration/ (Positioning)
deceleration time constant and velocity. (page 6-6)
Moves the axis by the external position- EX_POSING
ing travel distance from the current (External
2 EX_POSING External Positioning
position when an external positioning Positioning)
signal is input during positioning. (page 6-13)
Returns to the zero point in the machine
coordinate system. When an incremen- ZRET (Zero
3 ZRET Zero Point Return tal encoder is used, there are 13 differ- Point Return)
ent methods that you can use for the (page 6-21)
zero point return operation.
INTERPO-
Performs interpolation feeding using
LATE (Inter-
4 INTERPOLATE Interpolation positioning data that is distributed from
polation)
the CPU Function Module.
(page 6-43)
5* − Reserved for system. − −
Latch Stores the current position when a latch LATCH
6 LATCH (Interpolation mode signal is input during interpolation feed- (Latch) (page
with latch input) ing. 6-47)

Motion Commands
Moves the axis at the specified speed in
FEED (Jog)
7 FEED Jog (Jog mode) the specified direction until the com-
(page 6-51)
mand is canceled.
STEP Operation Performs positioning in the specified STEP (STEP
8 STEP (Relative position direction at the specified speed for the Operation)
mode) specified travel distance. (page 6-56)
ZSET (Set
Sets the zero point in machine coordi-
9 ZSET Set Zero Point
nates and enables the software limits.
Zero Point) 6
(page 6-62)
ACC (Change
Change Acceleration Changes the acceleration time for linear Acceleration
10 ACC
Time acceleration and deceleration. Time) (page
6-64)
DCC
(Change
Change Deceleration Changes the deceleration time for linear
11 DCC Deceleration
Time acceleration and deceleration.
Time) (page
6-66)
Continued on next page.

6-3
 6.1 Motion Commands

Continued from previous page.

Command
Command Name Introduction Reference
Code
SCC (Change
Change Filter Time Changes the acceleration/deceleration Filter Time
12 SCC
Constant filter time constant. Constant)
(page 6-68)
CHG_FIL-
Changes the acceleration/deceleration TER (Change
13 CHG_FILTER Change Filter Type
filter type. Filter Type)
(page 6-70)
KVS (Change
Change Speed Loop Speed Loop
14* KVS
Gain
Changes the speed loop gain.
Gain) (page
6-72)
KPS (Change
Change Position Loop Position Loop
15* KPS
Gain
Changes the position loop gain.
Gain) (page
6-74)
KFS (Change
Feedfor-
16* KFS Change Feedforward Changes the feedforward control gain.
ward) (page
6-76)
PRM_RD
Read SERVOPACK (Read SER-
17* PRM_RD Parameter (Read user Reads a SERVOPACK parameter. VOPACK
constant) Parameter)
(page 6-78)
PRM_WR
Write SERVOPACK (Write SER-
18* PRM_WR Parameter (Write user Writes a SERVOPACK parameter. VOPACK
constant) Parameter)
(page 6-80)
ALM_MON
Motion Alarms (Alarm (Monitor
19* ALM_MON
monitor)
Monitors SERVOPACK alarms.
Alarms)
(page 6-82)
ALM_HIST
Monitor Alarm History (Monitor
Monitors the SERVOPACK alarm his-
20* ALM_HIST (Alarm history moni-
tory.
Alarm His-
tor) tory) (page 6-
84)
ALMHIST_-
CLR (Clear
Clears the SERVOPACK alarm history
21* ALMHIST_CLR Clear Alarm History
data.
Alarm His-
tory) (page 6-
86)
ABS_RST
This command cannot be used with the (Reset Abso-
22* ABS_RST Reserved for system.
SVC or SVC32 Function Module. lute Encoder)
(page 6-88)
VELO (Issue
Issue Speed Reference Performs operation in Speed Control Speed Refer-
23 VELO
(Speed reference) Mode. ence) (page
6-89)
Continued on next page.

6-4
 6.1 Motion Commands

Continued from previous page.

Command
Command Name Introduction Reference
Code
TRQ (Issue
Issue Torque/Force
Performs operation in Torque Control Torque/Force
24 TRQ Reference (Torque/
Mode. Reference)
Thrust reference)
(page 6-95)
PHASE (Issue
Issue Phase Reference Performs operation in Phase Control Phase Refer-
25 PHASE
(Phase reference) Mode. ence) (page
6-100)
KIS (Change
Position Loop
Change Position Loop Changes the position loop integral time
26* KIS
Integral Time Constant constant.
Integral Time
Constant)
(page 6-104)
PPRM_WR
Write Non-volatile
(Write Non-
* Parameter Changes a SERVOPACK parameter in
27 PPRM_WR volatile
(Stored parameter non-volatile memory.
Parameter)
write)
(page 6-106)
EX_FEED
Moves the axis by the external position-
Jog with External Posi- (Jog with
ing travel distance from the current
34* EX_FEED tioning (Jog mode with
position when an external positioning
External
external positioning) Positioning)
signal is input during jogging.
(page 6-109)
MEM_RD
Reads data from the SERVOPACK (Read Mem-
35* MEM_RD Read Memory
memory. ory) (page 6-
115)
MEM_WR
Writes data to the SERVOPACK mem- (Write Mem-
36* MEM_WR Write Memory
ory. ory) (page 6-
117)
PMEM_RD
(Read Non-
Read Non-volatile Reads data from the SERVOPACK non-
37* PMEM_RD
Memory volatile memory.
volatile Mem-

Motion Commands
ory) (page 6-
119)
PMEM_WR
(Write Non-
Write Non-volatile Writes data to the SERVOPACK non-
38* PMEM_WR
Memory volatile memory.
volatile Mem-
ory) (page 6-
121)
* This command cannot be used with the SVR or SVR32 Function Module.
6

6-5
 6.2 Motion Command Details
POSING (Positioning)

6.2 Motion Command Details

This section describes how to use the MP3000-series motion commands.

POSING (Positioning)
The POSING command positions the axis to the target position according to the specified target position
and speed.

Execution and Operating Procedures

1. Make sure that all of the following conditions are met.
No. Execution Condition Confirmation Method
1 There must be no alarms. Both IL02 and IL04 must be 0.
2 The Servomotor’s power must be ON. Bit 1 in IW00 must be 1.
IW08 must be 0 and bit 0 in
3 Motion command execution must be completed.* IW09 must be 0.
* This condition refers to basic command execution. Refer to the following chapter for details on switching
from another command.
Chapter 7 Switching Commands

2. Set the following setting parameters.

• OW01 (Speed Loop P/PI Switch)
• OW03, Bits 8 to B (Filter Type Selection)
• OL10 (Speed Reference Setting)
• OW12 (Speed Limit)
• OL14 (Torque/Force Limit)
• OL36 (Linear Acceleration Rate/Acceleration Time Constant)
• OL38 (Linear Deceleration Rate/Deceleration Time Constant)

Information • OL10 can be changed during positioning.

• An override of between 0% and 327.67% can be set for OL10.
• OL14 can be changed at any time. The intended operation may not be achieved if the
set value is too small.
• If OL36 and OL38 are changed during operation, the specifications of the
SERVOPACK determine whether these changes are applied to acceleration and decelera-
tion.

3. Set the OW08 setting parameter (Motion Commands) to 1 to execute the POSING motion
command.

6-6
 6.2 Motion Command Details
POSING (Positioning)

4. Set the OL1C setting parameter (Position Reference Setting).

This starts the positioning operation. During positioning, the IW08 monitor parameter (Motion Com-
mand Response Code) will be 1.
When the target near position is reached, bit 3 (Near Position) in the IW0C monitor parameter will
change to 1 (Within near position range).
Then, when the target position is reached, bit 1 (Positioning Completed) in the IW0C monitor
parameter will change to 1 (Within positioning completed range) and positioning will end.

Information • If bit 5 (Position Reference Type) in the OW09 setting parameter is set to 1 (Absolute
value specification method), the target position can be set before executing the command.
• The OL1C setting parameter (Position Reference Setting) can be changed during posi-
tioning.
• If the target position (OL1C) is changed during positioning and there is not sufficient dis-
tance for deceleration or if it is changed and the new target position has already been passed, the
system will first decelerate to a stop, and then positioning to the target position will be per-
formed.

5. Set OW08 to 0 to execute the NOP motion command.

This concludes positioning.

Operating Patterns
The following figure shows the operating pattern when the POSING command is executed.

Speed (%)
Rated speed
(100%)
Speed Reference
Setting
(OL10)

Position
Reference
0
Time (t)
Linear Linear
Acceleration Deceleration
Time Constant Time Constant
(OL36) (OL38)

Motion Commands
Command Execution
A motion command is executed when a command code is set to the Motion Command parameter regis-
Terms ter (OW08).

Holding
• To hold an axis in place during motion and resume operation at a later time, set bit 0 (Hold Command) in 6
the OW09 setting parameter to 1 (Hold Command ON).
When bit 0 in OW09 is set to 1, the axis will decelerate to a stop.
The deceleration operation depends on the setting of bits 8 to F (Stop Mode Selection) in the
OW02 setting parameter.
When the axis completely decelerates to a stop, bit 1 (Command Hold Completed) in the IW09
monitor parameter will change to 1 (Completed).
• To release the hold, set bit 0 (Hold Command) in OW09 to 0 (Hold Command OFF).
This clears the command hold status and the remaining portion of the positioning operation is restarted.

6-7
 6.2 Motion Command Details
POSING (Positioning)

Canceling
• To stop an axis during motion and cancel the remaining motion, set bit 1 (Cancel Command) in the
OW09 setting parameter to 1 (Cancel Command ON).
When bit 1 in OW09 is set to 1, the axis will decelerate to a stop.
The deceleration operation depends on the setting of bits 8 to F (Stop Mode Selection) in the
OW02 setting parameter.
When the axis completely decelerates to a stop, the remaining motion will be canceled and bit 1 (Posi-
tioning Completed) in the IW0C monitor parameter will change to 1 (Within positioning com-
pleted range).
• The positioning operation resumes if bit 1 (Cancel Command) in the OW09 setting parameter is
set to 0 (Cancel Command OFF) during processing of the cancel operation. When the absolute value
specification method is used and bit 1 in OW09 is set to 0 (Cancel Command OFF) after deceler-
ating to a stop, motion is resumed in the direction of the Position Reference Setting (OL1C).
• The same operation as the Cancel Command operation will be performed if the motion command code
is changed during axis motion.

6-8
 6.2 Motion Command Details
POSING (Positioning)

Related Parameters

 Setting Parameters
Register
Name Setting Details
Address
Use this bit to turn the power to the Servomotor ON or OFF.
OW00
Servo ON Set this parameter to 1 before setting OW08 to 1 (POSING).
Bit 0
0: Servo OFF, 1: Servo ON
Use this bit to change the speed control loop between PI control and P
OW01 Speed Loop P/PI
control.
Bit 3 Switch
0: PI control, 1: P control
These bits select the stop method to use when a command is canceled.
OW02 0: Stop according to the Linear Deceleration Rate/Deceleration Time
Stop Mode Selection
Bits 8 to F Constant parameter
1: Stop immediately
OW03 Function Settings 1 Select the speed unit, acceleration/deceleration unit, and filter type.
Positioning is started when this parameter is set to 1 (POSING).
OW08 Motion Commands Set this parameter to 0 (NOP) during positioning to cancel the position-
ing operation.
If this bit is set to 1 (ON) during positioning, the axis will decelerate to a
OW09 stop.
Hold Command
Bit 0 The positioning operation is resumed if this bit is set to 0 (OFF) when the
axis is being held.
If this bit is set to 1 (ON) during positioning, the axis will decelerate to a
OW09 stop.
Cancel Command
Bit 1 If this bit is set to 0 (OFF) after decelerating to a stop, the operation will
depend on the setting of bit 5 in OW09.
Set the position reference type.
OW09 Position Reference Set this bit before setting OW08 to 1 (POSING).
Bit 5 Type 0: Incremental value addition method
1: Absolute value specification method
Specify the positioning speed. This parameter can be changed during
Speed Reference Set-
OL10 operation.
ting
The unit depends on the set value of bits 0 to 3 in OW03.

Motion Commands
Set the upper speed limit as a percentage of the rated speed. This value is
OW12 Speed Limit
an absolute value. It is used in both the positive and negative directions.
OL14 Torque/Force Limit Set the torque limit for positioning.
This parameter allows the positioning speed to be changed without
changing the value of OL10. Set the value as a percentage of the
Speed Reference Setting. This parameter can be changed during opera-
OW18 Override tion.
Setting range: 0 to 32,767 (0% to 327.67%) 6
Setting unit: 1 = 0.01%
Example: Setting for 50% = 5,000
Set the target position for positioning. This parameter can be changed
Position Reference Set- during operation.
OL1C
ting The meaning of the set value depends on the status of bit 5 in
OW09.
Positioning Comple- Set this parameter to the value for which bit 1 in IW0C will
OL1E
tion Width change to 1 (Within positioning completed range).
Set this parameter to the value for which bit 3 in IW0C will
NEAR Signal Output change to 1 (Within near position range). Bit 3 changes to 1 when the
OL20
Width absolute value of the difference between the reference position and the
feedback position is within the range that is specified here.
Continued on next page.

6-9
 6.2 Motion Command Details
POSING (Positioning)

Continued from previous page.

Register
Name Setting Details
Address
Linear Acceleration
Set the positioning acceleration rate with the acceleration rate or the
OL36 Rate/Acceleration
acceleration time.
Time Constant
Linear Deceleration
Set the positioning deceleration rate with the deceleration rate or the
OL38 Rate/Deceleration
deceleration time.
Time Constant
Set the acceleration/deceleration filter time constant. Exponential accel-
eration/deceleration or a moving average filter can be selected in bits 8 to
OW3A Filter Time Constant B in OW03.
This setting can be changed only when reference pulse distribution has
been completed (i.e., when bit 0 in IW0C is 1).

 Monitor Parameters
Register
Name Monitored Contents
Address
IW00 Running with Servo This bit shows the Servo status for the axis.
Bit 1 ON 0: Stopped, 1: Running with Servo ON
IL02 Warnings This parameter reports the current warning status.
IL04 Alarms This parameter reports the current alarm status.
Motion Command This parameter shows the motion command currently in execution.
IW08
Response Code This parameter is 1 during execution of the POSING command.
This bit changes to 1 (Processing) when cancel processing is being per-
IW09 Command Execution
formed for the POSING command. This bit changes to 0 (Completed) when
Bit 0 Flag
cancel processing has been completed.
This bit changes to 1 (Completed) when IW08 is 1 (execution of the
IW09 Command Hold
POSING command is in progress), bit 0 (Hold Command) in OW09
Bit 1 Completed
is 1, and the axis completely decelerates to a stop.
This bit changes to 1 (Completed with an error) when an error occurs
IW09 during execution of the POSING command. The axis will decelerate to a
Command Error End
Bit 3 stop if it is moving. This bit changes to 0 (Completed normally) when
another command is executed.
This bit is always 0 (Normal execution not completed) for the POSING
IW09 Command Execution command.
Bit 8 Completed Check bit 1 in IW0C to see if the POSING command has been com-
pleted.
This bit changes to 1 (Distribution completed) when the distribution of ref-
IW0C Distribution Com- erence pulses for the movement motion command is completed.
Bit 0 pleted This bit is 0 (Distributing pulses) when the execution of a movement
motion command is in progress.
This bit is 1 (Within positioning completed range) when pulse distribution
IW0C Positioning Com- is completed and the current position is within the positioning completed
Bit 1 pleted range.
This bit is 0 (Outside positioning completed range) in all other cases.
Continued on next page.

6-10
 6.2 Motion Command Details
POSING (Positioning)

Continued from previous page.

Register
Name Monitored Contents
Address
The operation of this bit depends on the set value of OL20.
If OL20 is 0, this bit is 1 (Within near position range) when reference
pulse distribution is completed (i.e., when DEN is 1), and it is 0 (Outside
near position range) when reference pulse distribution is not completed.
When OL20 is not 0, this bit is 1 when within the range of the fol-
IW0C
Near Position lowing formula, regardless of the state of reference pulse distribution, and 0
Bit 3 in all other cases.
| (IL12) − (IL16) | ≤ OL20
IL12: Machine Coordinate System Reference Position
IL16: Machine Coordinate System Feedback Position
OL20: NEAR Signal Output Width

Timing Charts

 Normal Execution

OW08 = 1 (POSING)
IW08 = 1 (POSING)
IW09 Bit 0 (BUSY)
IW09 Bit 3 (FAIL)
IW09 Bit 8 (COMPLETE)
IW0C Bit 0 (DEN)
IW0C Bit 1 (POSCOMP)

1 scan This interval is not constant.

 Execution When Canceled

Motion Commands
OW08 = 1 (POSING)
OW09 Bit 1 (ABORT)
IW08 = 1 (POSING)
IW09 Bit 0 (BUSY)
IW09 Bit 3 (FAIL)
IW09 Bit 8 (COMPLETE)
IW0C Bit 0 (DEN) 6
IW0C Bit 1 (POSCOMP)

1 scan This interval is not constant.

6-11
 6.2 Motion Command Details
POSING (Positioning)

 Execution When Command Is Changed

OW08 = 1 (POSING)
IW08 = 1 (POSING)
IW09 Bit 0 (BUSY)
IW09 Bit 3 (FAIL) 1scan
IW09 Bit 8 (COMPLETE)
IW0C Bit 0 (DEN)
IW0C Bit 1 (POSCOMP)

1 scan This interval is not constant.

 Holding

OW08 = 1 (POSING)
OW09 Bit 0 (HOLD)
IW08 = 1 (POSING)
IW09 Bit 0 (BUSY)
IW09 Bit 1 (HOLDL)
IW09 Bit 3 (FAIL)
IW09 Bit 8 (COMPLETE)
IW0C Bit 0 (DEN)
IW0C Bit 1 (POSCOMP)

1 scan This interval is not constant.

 Execution When an Alarm Occurs

OW08 = 1 (POSING)
IW08 = 1 (POSING)
IW09 Bit 0 (BUSY)
IW09 Bit 3 (FAIL)
IW09 Bit 8 (COMPLETE)
IW0C Bit 0 (DEN)
IW0C Bit 1 (POSCOMP)

1 scan This interval is not constant.

Alarms

6-12
 6.2 Motion Command Details
EX_POSING (External Positioning)

EX_POSING (External Positioning)

The EX_POSING command begins positioning the axis towards the target position according to the spec-
ified target position and speed. Parameters related to acceleration and deceleration are set in advance.
When the external positioning signal is turned ON during motion, the axis is moved by the external posi-
tioning final travel distance from the current position. If the external positioning signal will not turn ON,
positioning is completed to the original target position.

The SVR and SVR32 Function Modules do not support external positioning for an external signal
input.
Note The operation will be the same as for the POSING command.

Execution and Operating Procedures

1. Make sure that all of the following conditions are met.
No. Execution Condition Confirmation Method
1 There must be no alarms. Both IL02 and IL04 must be 0.
2 The Servomotor’s power must be ON. Bit 1 in IW00 must be 1.
IW08 must be 0 and bit 0 in
3 Motion command execution must be completed.* IW09 must be 0.
* This condition refers to basic command execution. Refer to the following chapter for details on switching
from another command.
Chapter 7 Switching Commands

2. Set the following setting parameters.

• OW01 (Speed Loop P/PI Switch)
• OW03, Bits 8 to B (Filter Type Selection)
• OW04, Bits 4 to 7 (External Positioning Signal Setting)
• OL10 (Speed Reference Setting)
• OW12 (Speed Limit)
• OL14 (Torque/Force Limit)
• OL46 (External Positioning Final Travel Distance)

Motion Commands
• OL36 (Linear Acceleration Rate/Acceleration Time Constant)
• OL38 (Linear Deceleration Rate/Deceleration Time Constant)

Information • OL10 can be changed during positioning.

• An override of between 0% and 327.67% can be set for OL10.
• OL14 can be changed at any time. The intended operation may not be achieved if the
set value is too small.
• If OL36 and OL38 are changed during operation, the specifications of the
SERVOPACK determine whether these changes are applied to acceleration and decelera- 6
tion.

3. Set the OW08 setting parameter (Motion Commands) to 2 to execute the EX_POSING
motion command.

4. Set the OL1C setting parameter (Position Reference Setting) in the same scan as the set-
ting parameters in step 2.
After the parameter is set, positioning will start for the axis to the position set in OL1C.
When the external positioning signal turns ON during positioning, the axis is moved by the external posi-
tioning final travel distance from the current position.
When the axis stops, bit 8 (Command Execution Completed) in the IW09 monitor parameter will
change to 1 (Normal execution completed) and external positioning will end.

6-13
 6.2 Motion Command Details
EX_POSING (External Positioning)

Information If bit 5 (Position Reference Type) in the OW09 setting parameter is set to 1 (Absolute value
specification method), the target position can be set before executing the command.

5. Set OW08 to 0 to execute the NOP motion command.

This concludes external positioning.

Operating Patterns
The following figure shows the operating pattern when the EX_POSING command is executed.
Speed (%)
Rated speed
(100%)
Speed Reference
Setting
(OL10) External Positioning
Final Travel Distance

0
Time (t)
Linear Acceleration Linear Deceleration
Time Constant Time Constant
(OL36) (OL38)
Latch signal (external positioning signal)

Holding
• To hold an axis in place during motion and resume operation at a later time, set bit 0 (Hold Command) in
the OW09 setting parameter to 1 (Hold Command ON).
When bit 0 in OW09 is set to 1, the axis will decelerate to a stop.
The deceleration operation depends on the setting of bits 8 to F (Stop Mode Selection) in the
OW02 setting parameter.
When the axis completely decelerates to a stop, bit 1 (Command Hold Completed) in the IW09
monitor parameter will change to 1 (Completed).
• To release the hold, set bit 0 (Hold Command) in OW09 to 0 (Hold Command OFF).
This clears the command hold status and the remaining portion of the positioning operation is restarted.

Canceling
• To stop an axis during motion and cancel the remaining motion, set bit 1 (Cancel Command) in the
OW09 setting parameter to 1 (Cancel Command ON).
When bit 1 in OW09 is set to 1, the axis will decelerate to a stop.
The deceleration operation depends on the setting of bits 8 to F (Stop Mode Selection) in the
OW02 setting parameter.
When the axis completely decelerates to a stop, the remaining motion will be canceled and bit 1 (Posi-
tioning Completed) in the IW0C monitor parameter will change to 1 (Within positioning com-
pleted range).
• The same operation as the Cancel Command operation will be performed if the motion command code
is changed during axis motion.

6-14
 6.2 Motion Command Details
EX_POSING (External Positioning)

Related Parameters

 Setting Parameters
Register
Name Setting Details
Address
Use this bit to turn the power to the Servomotor ON or OFF.
OW00
Servo ON Set this parameter to 1 before setting OW08 to 2 (EX_POSING).
Bit 0
0: Servo OFF, 1: Servo ON
Use this bit to change the speed control loop between PI control and P
OW01
Speed Loop P/PI Switch control.
Bit 3
0: PI control, 1: P control
These bits select the stop method to use when a command is canceled.
OW02 0: Stop according to the Linear Deceleration Rate/Deceleration Time
Stop Mode Selection
Bits 8 to F Constant parameter
1: Stop immediately
OW03 Function Settings 1 Select the speed unit, acceleration/deceleration unit, and filter type.
OW04 External Positioning Set the external positioning signal.
Bits 4 to 7 Signal Setting 2: Phase-C pulse, 3: /EXT1, 4: /EXT2, 5: /EXT3
Positioning is started when this parameter is set to 2 (EX_POSING).
OW08 Motion Commands Set this parameter to 0 (NOP) during positioning to cancel the position-
ing operation.
If this bit is set to 1 (ON) during positioning, the axis will decelerate to
OW09 a stop.
Hold Command
Bit 0 The positioning operation is resumed if this bit is set to 0 (OFF) when
the axis is being held.
OW09 If this bit is set to 1 (ON) during positioning, the axis will decelerate to
Cancel Command
Bit 1 a stop.
Use this bit to enable or disable the valid zone for the external position-
ing signal.
OW09
Latch Zone Enable If the latch zone is enabled, the external positioning signal is ignored if
Bit 4
it is input outside of the latch zone.
0: Disabled, 1: Enabled
Set the position reference type.
OW09 Set this bit before setting OW08 to 2 (EX_POSING).

Motion Commands
Position Reference Type
Bit 5 0: Incremental value addition method
1: Absolute value specification method
Specify the positioning speed. This parameter can be changed during
OL10 Speed Reference Setting operation.
The unit depends on the set value of bits 0 to 3 in OW03.
Set the upper speed limit as a percentage of the rated speed. This value
OW12 Speed Limit is an absolute value. It is used in both the positive and negative direc-
tions. 6
OL14 Torque/Force Limit Set the torque limit for positioning.
This parameter allows the positioning speed to be changed without
changing the value of OL10. Set the value as a percentage of the
Speed Reference Setting. This parameter can be changed during opera-
OW18 Override tion.
Setting range: 0 to 32,767 (0% to 327.67%)
Setting unit: 1 = 0.01%
Example: Setting for 50% = 5,000
Set the target position for positioning. This parameter can be changed
Position Reference Set- during operation.
OL1C
ting The meaning of the set value depends on the status of bit 5 in
OW09.
Continued on next page.

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 6.2 Motion Command Details
EX_POSING (External Positioning)

Continued from previous page.

Register
Name Setting Details
Address
Positioning Completion Set this parameter to the value for which bit 1 in IW0C will
OL1E
Width change to 1 (Within positioning completed range).
Set this parameter to the value for which bit 3 in IW0C will
NEAR Signal Output change to 1 (Within near position range). Bit 3 changes to 1 when the
OL20
Width absolute value of the difference between the reference position and the
feedback position is within the range that is specified here.
Latch Zone Lower Limit Set the boundary in the negative direction of the area in which the
OL2A
Setting external positioning signal is valid.
Latch Zone Upper Limit Set the boundary in the positive direction of the area in which the exter-
OL2C
Setting nal positioning signal is valid.
Linear Acceleration
Set the positioning acceleration rate with the acceleration rate or the
OL36 Rate/Acceleration Time
acceleration time.
Constant
Linear Deceleration
Set the positioning deceleration rate with the deceleration rate or the
OL38 Rate/Deceleration Time
deceleration time.
Constant
Set the acceleration/deceleration filter time constant. Exponential
acceleration/deceleration or a moving average filter can be selected in
OW3A Filter Time Constant bits 8 to B in OW03.
This setting can be changed only when reference pulse distribution has
been completed (i.e., when bit 0 in IW0C is 1).
External Positioning
OL46 Set the travel distance after the external positioning signal is input.
Final Travel Distance

 Monitor Parameters
Register
Name Monitored Contents
Address
IW00 Running with Servo This bit shows the Servo status for the axis.
Bit 1 ON 0: Stopped, 1: Running with Servo ON
IL02 Warnings This parameter reports the current warning status.
IL04 Alarms This parameter reports the current alarm status.
Motion Command This parameter shows the motion command currently in execution.
IW08
Response Code This parameter is 2 during execution of the EX_POSING command.
IW09 Command Execution This bit is 1 (Processing) during execution of the EX_POSING command.
Bit 0 Flag The bit changes to 0 (Completed) when execution ends.
This bit changes to 1 (Completed) after the axis decelerates to a complete
IW09 Command Hold
stop when bit 1 (Hold Command) in OW09 changes to 1 during exe-
Bit 1 Completed
cution of the EX_POSING command (i.e., when IW08 is 2).
This bit changes to 1 (Completed with an error) when an error occurs
IW09 during execution of the EX_POSING command.
Command Error End
Bit 3 The axis will decelerate to a stop if it is moving. This bit changes to 0
(Completed normally) when another command is executed.
IW09 Command Execution This bit changes to 1 (Completed) when execution of the EX_POSING
Bit 8 Completed command ends.
This bit changes to 1 (Distribution completed) when the distribution of ref-
IW0C Distribution Com- erence pulses for the movement motion command is completed.
Bit 0 pleted This bit is 0 (Distributing pulses) when the execution of a movement
motion command is in progress.
This bit is 1 (Within positioning completed range) when pulse distribution
IW0C Positioning Com-
is completed and the current position is within the positioning completed
Bit 1 pleted
range. This bit is 0 (Outside positioning completed range) in all other cases.
Continued on next page.

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 6.2 Motion Command Details
EX_POSING (External Positioning)

Continued from previous page.

Register
Name Monitored Contents
Address
This bit changes to 0 (Latch not complete) when a new latch command is
IW0C
Latch Completed executed and it changes to 1 (Latch completed) when the latch is com-
Bit 2
pleted. The latched position is reported in IL18.
The operation of this bit depends on the set value of OL20.
If OL20 is 0, this bit is 1 (Within near position range) when reference
pulse distribution is completed (i.e., when DEN is 1), and it is 0 (Outside
near position range) when reference pulse distribution is not completed.
When OL20 is not 0, this bit is 1 when within the range of the fol-
IW0C lowing formula, regardless of the state of reference pulse distribution, and 0
Near Position
Bit 3 in all other cases.
| (IL12) − (IL16) | ≤ OL20
IL12: Machine Coordinate System Reference Position
IL16: Machine Coordinate System Feedback Position
OL20: NEAR Signal Output Width
Machine Coordinate
This parameter stores the current position in the machine coordinate system
IL18 System Latch Posi-
when the latch signal turned ON.
tion

Timing Charts
Information For EX_POSING, the value of the OL46 setting parameter (External Positioning Final
Travel Distance) is written to the SERVOPACK parameters before movement. Therefore, there is
a slight time lag before the axis starts moving (refer to the items with asterisks (*) in the following
figure).

 Normal Execution
This position is reported. (IL18)

Travel distance

This interval is not constant.*

OW08 = 2 (EX_POSING)

Motion Commands
IW08 = 2 (EX_POSING)
IW09 Bit 0 (BUSY)
IW09 Bit 3 (FAIL)
IW09 Bit 8 (COMPLETE)
IW0C Bit 0 (DEN)
IW0C Bit 1 (POSCOMP)
Latch signal 1 scan This interval is not constant.
(phase-C pulse, EXT1, EXT2, or EXT3)
6
IW0C Bit2 (LCOMP)
(Latch Completed)

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 6.2 Motion Command Details
EX_POSING (External Positioning)

 Execution When Canceled

This interval is not constant.*

OW08 = 2 (EX_POSING)
OW09 Bit 1 (ABORT)
IW08 = 2 (EX_POSING)
IW09 Bit 0 (BUSY)
IW09 Bit 3 (FAIL)
IW09 Bit 8 (COMPLETE)
IW0C Bit 0 (DEN)
IW0C Bit 1 (POSCOMP)

1 scan This interval is not constant.

 Execution When Command Is Changed

This interval is not constant.*

OW08 = 2 (EX_POSING)
IW08 = 2 (EX_POSING)
IW09 Bit 0 (BUSY)
IW09 Bit 3 (FAIL)
IW09 Bit 8 (COMPLETE)
IW0C Bit 0 (DEN)
IW0C Bit 1 (POSCOMP)

1 scan This interval is not constant.

 Execution When an Alarm Occurs

This interval is not constant.*

OW08 = 2 (EX_POSING)
IW08 = 2 (EX_POSING)
IW09 Bit 0 (BUSY)
IW09 Bit 3 (FAIL)
IW09 Bit 8 (COMPLETE)
IW0C Bit 0 (DEN)
IW0C Bit 1 (POSCOMP)

1 scan This interval is not constant.

Alarm

External Positioning Final Travel Distance Write Selection

 Overview
The External Positioning Final Travel Distance Write Selection parameter is used to specify whether or
not to automatically apply OL46 (External Positioning Final Travel Distance) to the SERVOPACK
at the start of execution of the EX_POSING (External Positioning) and EX_FEED (Jog with External
Positioning) motion commands. When the parameter is set so that the external positioning final travel dis-
tance is not applied, positioning may start sooner because no parameters are written to the SERVOPACK
at the start of EX_POSING and EX_FEED execution.

6-18
 6.2 Motion Command Details
EX_POSING (External Positioning)

 Operation
Operation of Automatic Application Selection Parameter during External Positioning
Automatically Apply Do Not Automatically Apply
Start of external positioning Start of external positioning

Automatic Application

OL46
External Positioning
Final Travel Distance

Written.

Common parameter No.83

External Positioning
Final Travel Distance

External positioning reference External positioning reference

End of external positioning End of external positioning

 Applicable Versions
The following tables list the firmware and Engineering Tool versions that support this parameter.

 MP3000-series Machine Controllers

Motion Commands
Product Model Version
MP3200/CPU-201 JEPMC-CP3201-E
MP3200/CPU-202 JEPMC-CP3202-E
Version 1.14 or later
MP3300/CPU-301 for 16 axes JAPMC-CP3301-1-E
MP3300/CPU-301 for 32 axes JAPMC-CP3301-2-E
6
 Engineering Tool
Product Model Version
MPE720 Ver.7 CPMC-MPE780 Version 7.30 or later

6-19
 6.2 Motion Command Details
EX_POSING (External Positioning)

 Related Parameters
Register Address Name Description
This bit sets whether or not to automatically
apply OL46 to the SERVOPACK.
External Positioning Final
The setting is applied at the start of motion
OW05 Bit 2 Travel Distance Write Selec-
command execution.
tion
0: Automatically apply, 1: Do not automati-
cally apply

 Procedure
Use the following procedure to perform external positioning without automatically applying the external
positioning final travel distance.
1. Confirm that a value has been set for common parameter No.83 (External Positioning Final Travel
Distance).

2. Set OW05 bit 2 (External Positioning Final Travel Distance Write Selection) to 1 (Automati-
cally apply).

3. Set the EX_POSING (External Positioning) or EX_FEED (Jog with External Positioning) motion
command.

4. Input the external positioning signal to the SERVOPACK.

This concludes the procedure.

 Timing Charts
The following timing charts show the operation of the external positioning final travel distance write
selection parameter.
OW05 Bit 2 Timing Chart
Time lag due to OL46
automatic application (External Positioning Final Travel Distance)
Speed

Time

0: Automatically
apply (default) OW08 = 2 or 34

IW08 = OW08

Latch signal

1 scan
Common parameter No.83
(External Positioning Final Travel Distance)
Speed

Time

1: Do not automat-
ically apply OW08 = 2 or 34

IW08 = OW08

Latch signal

1 scan

6-20
 6.2 Motion Command Details
ZRET (Zero Point Return)

ZRET (Zero Point Return)

When the ZRET command is executed, the axis returns to the zero point of the machine coordinate sys-
tem.
The operation to detect the position of the zero point is different for an absolute encoder and for an incre-
mental encoder.
With an absolute encoder, the axis is returned to the zero point of the machine coordinate system. This
concludes the execution of the command.
With an incremental encoder, you can select from 13 different methods for performing the zero point
return operation. (Refer to the next section for details.)

If the SVR or SVR32 Function Module is used, the only operations that are performed are the resetting
of the machine coordinate system and setting of the Zero Point Return completion status.
Note The zero point return operation itself is not performed.

Selecting the Zero Point Return Method (with an Incremental

Encoder)
When fixed parameter No. 30 (Encoder Selection) is set to 0 (Incremental encoder), the coordinate system
data is lost when the power supply is turned OFF. Therefore, this command must be executed when the
power supply is turned ON again to establish a new coordinate system.
The following table lists the 13 zero point return methods that are supported by the SVC and SVC32 Func-
tion Modules. Select the best method for the machine according to the set values of the setting parameters.
Refer to the following section for details on each of the methods listed in the following table.
Zero Point Return Methods and Parameters (page 6-26)

OW3C
Setting Name Method Signal Details
Parameter
Applies a 3-step deceleration

Motion Commands
DEC1 +
0 method using the deceleration DEC1 signal: SERVOPACK DEC signal
C pulse
limit switch and phase-C pulse.
1 ZERO signal Uses the ZERO signal. ZERO signal: SERVOPACK EXT1 signal
Applies a 3-step deceleration
DEC1 + DEC1 signal: SERVOPACK DEC signal
2 method using the deceleration
ZERO signal ZERO signal: SERVOPACK EXT1 signal
limit switch and ZERO signal.
3 C pulse Uses the phase-C pulse. −
Reserved for
6
4 to 10 − −
system.
11 C pulse only Uses only the phase-C pulse. −
P-OT + Uses the positive overtravel signal
12 P-OT: SERVOPACK P-OT signal
C pulse and phase-C pulse.
Uses only the positive overtravel
13 P-OT only
signal. P-OT: SERVOPACK P-OT signal*
HOME LS + Uses the HOME signal and phase-
14 HOME: SERVOPACK EXT1 signal
C pulse C pulse.
15 HOME only Uses only the HOME signal. HOME: SERVOPACK EXT1 signal
Continued on next page.

6-21
 6.2 Motion Command Details
ZRET (Zero Point Return)

Continued from previous page.

OW3C
Setting Name Method Signal Details
Parameter
N-OT + Uses the negative overtravel sig-
16 N-OT: SERVOPACK N-OT signal
C pulse nal and phase-C pulse.
Uses only the negative overtravel
17 N-OT only
signal. N-OT: SERVOPACK N-OT signal*
INPUT + Uses the input signal and phase-C INPUT: Bit B in the OW05 setting
18
C pulse pulse. parameter
Allows the zero point return to be performed
19 INPUT only Uses only the input signal. without controlling bit B in the OW05
setting parameter from an external signal.*
* Do not use this method if repeat accuracy is required.

Execution and Operating Procedures

1. Make sure that all of the following conditions are met.
No. Execution Condition Confirmation Method
1 There must be no alarms. Both IL02 and IL04 must be 0.
2 The Servomotor’s power must be ON. Bit 1 in IW00 must be 1.
IW08 must be 0 and bit 0 in
3 Motion command execution must be completed.* IW09 must be 0.
* This condition refers to basic command execution. Refer to the following chapter for details on switching
from another command.
Chapter 7 Switching Commands

2. If an incremental encoder is used (i.e., if fixed parameter No. 30 (Encoder Selection) is set to 0),
refer to the table on the previous page and set the zero point return method to use in motion set-
ting parameter OW3C (Zero Point Return Method).

Information Software limits are enabled when the zero point return operation is completed.

3. Refer to the following section and set the required parameters.

Zero Point Return Methods and Parameters (page 6-26)

4. Set the OW08 setting parameter (Motion Commands) to 3 to execute the ZRET motion
command.
The zero point return operation will start. During the zero point return operation, the IW08 monitor
parameter (Motion Command Response Code) is 3.
When the axis returns to the zero point, bit 5 (Zero Point Return/Setting Completed) in the IW0C
monitor parameter will change to 1 (Completed) and the zero point return operation will end.

5. Set OW08 to 0 to execute the NOP motion command.

This concludes the zero point return operation.

Holding
Holding execution of the ZRET command is not possible. Bit 0 (Hold Command) in the OW09 set-
ting parameter will be ignored.

6-22
 6.2 Motion Command Details
ZRET (Zero Point Return)

Canceling
• To cancel a zero point return operation, set bit 1 (Cancel Command) in the OW09 setting parame-
ter to 1 (Cancel Command ON).
When bit 1 in OW09 is set to 1, the axis will decelerate to a stop.
The deceleration operation depends on the setting of bits 8 to F (Stop Mode Selection) in the
OW02 setting parameter.
When the axis completely decelerates to a stop, the remaining motion will be canceled and bit 1 (Posi-
tioning Completed) in the IW0C monitor parameter will change to 1 (Within positioning com-
pleted range).
• The same operation as the Cancel Command operation will be performed if the motion command code
is changed during axis motion.

Related Parameters

 Setting Parameters
Register
Name Setting Details
Address
Use this bit to turn the power to the Servomotor ON or OFF.
OW00
Servo ON Set this parameter to 1 before setting OW08 to 3 (ZRET).
Bit 0
0: Servo OFF, 1: Servo ON
Use this bit to change the speed control loop between PI control and P
OW01
Speed Loop P/PI Switch control.
Bit 3
0: PI control, 1: P control
These bits select the stop method to use when a command is canceled.
OW02 0: Stop according to the Linear Deceleration Rate/Deceleration Time
Stop Mode Selection
Bits 8 to F Constant parameter
1: Stop immediately
OW03 Function Settings 1 Select the speed unit, acceleration/deceleration unit, and filter type.
The zero point return operation is started when this parameter is set to 3
(ZRET).
OW08 Motion Commands
Set this parameter to 0 (NOP) during the zero point return operation to
cancel the operation.
OW09 When this bit is set to 1 (ON) during a zero point return operation, the

Motion Commands
Cancel Command
Bit 1 axis will decelerate to a stop.
Set the upper speed limit as a percentage of the rated speed. This value
OW12 Speed Limit is an absolute value. It is used in both the positive and negative direc-
tions.
OL14 Torque/Force Limit Set the torque limit for positioning.
Linear Acceleration
OL36 Rate/Acceleration Time Set the positioning acceleration rate with the acceleration time.
Constant 6
Linear Deceleration
OL38 Rate/Deceleration Time Set the positioning deceleration rate with the deceleration time.
Constant
Set the acceleration/deceleration filter time constant. Exponential
acceleration/deceleration or a moving average filter can be selected in
OW3A Filter Time Constant bits 8 to B in OW03.
This setting can be changed only when reference pulse distribution has
been completed (i.e., when bit 0 in IW0C is 1).
Zero Point Position Out- Set this parameter to the value for which bit 4 in IW0C will
OW3D
put Width change to 1 (Within zero point position range).

6-23
 6.2 Motion Command Details
ZRET (Zero Point Return)

 Monitor Parameters
Register
Name Monitored Contents
Address
IW00 This bit shows the Servo status for the axis.
Running with Servo ON
Bit 1 0: Stopped, 1: Running with Servo ON
IL02 Warnings This parameter reports the current warning status.
IL04 Alarms This parameter reports the current alarm status.
Motion Command This parameter shows the motion command currently in execution.
IW08
Response Code This parameter is 3 during execution of the ZRET command.
IW09 Command Execution This bit is 1 (Processing) during execution of the ZRET command. The
Bit 0 Flag bit changes to 0 (Completed) when execution ends.
IW09 Command Hold Com- This bit is always 0 (Command hold not completed) for the ZRET com-
Bit 1 pleted mand.
This bit changes to 1 (Completed with an error) when an error occurs
IW09 during execution of the ZRET command.
Command Error End
Bit 3 The axis will decelerate to a stop if it is moving. This bit changes to 0
(Completed normally) when another command is executed.
IW09 Command Execution This bit changes to 1 (Normal execution completed) when execution of
Bit 8 Completed the ZRET command ends.
This bit changes to 1 (Distribution completed) when the distribution of
IW0C reference pulses for the movement motion command is completed.
Distribution Completed
Bit 0 This bit is 0 (Distributing pulses) when the execution of a movement
motion command is in progress.
The operation of this bit depends on the set value of OL20.
If OL20 is 0, this bit is 1 (Within near position range) when ref-
erence pulse distribution is completed (i.e., when DEN is 1), and it is 0
(Outside near position range) when reference pulse distribution is not
completed.
IW0C When OL20 is not 0, this bit is 1 when within the range of the
Near Position following formula, regardless of the state of reference pulse distribu-
Bit 3
tion, and 0 in all other cases.
| (IL12) − (IL16) | ≤ OL20
IL12: Machine Coordinate System Reference Position
IL16: Machine Coordinate System Feedback Position
OL20: NEAR Signal Output Width
This bit is 1 (Within zero point position range) if, after the zero point
IW0C position operation is completed, the current position is within the zero
Zero Point Position
Bit 4 point position output width from the zero point position. It is 0 (Outside
zero point position range) if the current position is outside of this range.
IW0C Zero Point Return Com- This bit changes to 1 (Zero point return/setting completed) when the
Bit 5 pleted zero point return operation is completed.

6-24
 6.2 Motion Command Details
ZRET (Zero Point Return)

Timing Charts

 Normal Execution
Depends on the zero point
return method that is used.

OW08 = 3 (ZRET)
IW08 = 3 (ZRET)
IW09 Bit 0 (BUSY)
IW09 Bit 3 (FAIL)
IW09 Bit 8 (COMPLETE)
IW0C Bit 0 (DEN)
IW0C Bit 1 (POSCOMP)

IW0C Bit 5 (ZRNC) 1 scan This interval is not constant.

 Execution When Canceled

OW08 = 3 (ZRET)
OW09 Bit 1 (ABORT)
IW08 = 3 (ZRET)
IW09 Bit 0 (BUSY)
IW09 Bit 3 (FAIL)
IW09 Bit 8 (COMPLETE)
IW0C Bit 0 (DEN)
IW0C Bit 1 (POSCOMP)

IW0C Bit 5 (ZRNC) 1 scan This interval is not constant.

Motion Commands
 Execution When Command Is Changed

OW08 = 3 (ZRET)
IW08 = 3 (ZRET)
IW09 Bit 0 (BUSY) 6
IW09 Bit 3 (FAIL)
IW09 Bit 8 (COMPLETE)
IW0C Bit 0 (DEN)
IW0C Bit 1 (POSCOMP)
1 scan This interval is not constant.
IW0C Bit 5 (ZRNC)

6-25
 6.2 Motion Command Details
ZRET (Zero Point Return)

 Execution When an Alarm Occurs

OW08 = 3 (ZRET)
IW08 = 3 (ZRET)
IW09 Bit 0 (BUSY)
IW09 Bit 3 (FAIL)
IW09 Bit 8 (COMPLETE)
IW0C Bit 0 (DEN)
IW0C Bit 1 (POSCOMP)

IW0C Bit 5 (ZRNC) 1 scan This interval is not constant.

Alarms

Zero Point Return Methods and Parameters

With an incremental encoder, there are 13 different methods that you can use for the zero point return
operation. This section explains the operations that occur after starting a zero point return operation and
the parameters that must be set before issuing the command.

 DEC1 + C Pulse (OW3C = 0)

 Operation after Zero Point Return Starts

1. Motion is started at the zero point return speed in the direction that is specified in the parameters.
2. When the rising edge of the DEC1 signal is detected, the axis will decelerate to the approach
speed.

3. When the first phase-C pulse is detected after passing the DEC1 signal at the approach speed,
the speed will be reduced to the creep speed and positioning will be performed.

4. When the positioning operation has been completed, the machine coordinate system is estab-
lished with the position at the end of the positioning operation as the zero point.
Zero Point Return
Travel Distance
Zero point (OL42) Start

Creep Speed
(OL40) Approach Speed
(OL3E)

Speed Reference Setting

(OL10)
DEC1 signal*1

Phase-C pulse
P-OT*2

N-OT*3

*1. SERVOPACK DEC signal.

*2. SERVOPACK P-OT signal.
*3. SERVOPACK N-OT signal.

6-26
 6.2 Motion Command Details
ZRET (Zero Point Return)

The travel distance after the phase-C pulse is detected is set in the OL42 setting parameter (Zero
Point Return Travel Distance).
Note If an overtravel signal is detected during the zero point return operation, an overtravel alarm will occur.

 Setting Parameters
Register Address Name Setting Details
Zero Point Return
OW3C 0: DEC1 + C pulse
Method
Zero Point Return
OW09 Bit 3 Set the zero point return direction.
Direction Selection
Set the speed at which to begin the zero point return operation.
Speed Reference Set-
OL10 Only a positive value can be set. A negative value will result in an
ting
error.
This parameter allows the travel speed to be changed without
changing the value of OL10. Set the value as a percentage of
the Speed Reference Setting. This parameter can be changed
OW18 Override during operation.
Setting range: 0 to 32,767 (0% to 327.67%)
Setting unit: 1 = 0.01%
Example: Setting for 50% = 5,000
Set the speed to use after detecting the DEC1 signal.
OL3E Approach Speed Only a positive value can be set. A negative value will result in an
error.
Set the speed to use after detecting the first phase-C pulse after the
OL40 Creep Speed DEC1 signal is passed. Only a positive value can be set. A negative
value will result in an error.
Set the travel distance from the point where the first phase-C pulse
is detected after passing the DEC1 signal.
Zero Point Return If the sign is positive, the axis will move towards the zero point
OL42
Travel Distance return direction for the zero point return travel distance.
If the sign is negative, the axis will move away from the zero point
return direction.

Motion Commands
 ZERO Signal (OW3C = 1)

 Operation after Zero Point Return Starts

1. Travel is started at the approach speed in the direction that is specified in the parameters.
2. When the rising edge of the ZERO signal is detected, the speed will be reduced to the creep 6
speed and positioning will be performed.

3. When the positioning operation has been completed, the machine coordinate system is estab-
lished with the position at the end of the positioning operation as the zero point.

6-27
 6.2 Motion Command Details
ZRET (Zero Point Return)

Zero point Start

Zero Point Return
Travel Distance
(OL42)
Creep Speed
(OL40)

Approach Speed
(OL3E)

ZERO signal*1
P-OT*2

N-OT*3

*1. SERVOPACK EXT1 signal.

*2. SERVOPACK P-OT signal.
*3. SERVOPACK N-OT signal.

The travel distance after detecting the ZERO signal is set in the OL42 setting parameter (Zero
Point Return Travel Distance).
Note If an overtravel signal is detected during the zero point return operation, an overtravel alarm will occur.

 Setting Parameters
Register Address Name Setting Details
Zero Point Return
OW3C 1: ZERO signal
Method
Zero Point Return
OW09 Bit 3 Set the zero point return direction.
Direction Selection
Set the speed to use after passing the DEC1 signal.
OL3E Approach Speed Only a positive value can be set. A negative value will result in an
error.
Set the speed to use after detecting the ZERO signal.
OL40 Creep Speed Only a positive value can be set. A negative value will result in an
error.
Set the travel distance from the point where the ZERO signal is
detected after passing the DEC1 signal.
Zero Point Return If the sign is positive, the axis will move in the zero point return
OL42
Travel Distance direction.
If the sign is negative, the axis will move away from the zero point
return direction.

 DEC1 + ZERO Signal (OW3C = 2)

 Operation after Zero Point Return Starts

1. Travel is started at the zero point return speed in the direction that is specified in the parameters.
2. When the rising edge of the DEC1 signal is detected, the axis will decelerate to the approach
speed.

3. When the rising edge of the ZERO signal is detected after passing the DEC1 signal during move-
ment at the approach speed, the speed will be reduced to the creep speed and positioning will be
performed.

4. When the positioning operation has been completed, the machine coordinate system is estab-
lished with the position at the end of the positioning operation as the zero point.

6-28
 6.2 Motion Command Details
ZRET (Zero Point Return)

DEC1 signal*1
Zero Point Return
Travel Distance
Zero point (OL42) Start

Creep Speed
(OL40) Approach Speed
(OL3E)

Speed Reference Setting

(OL10)

ZERO signal*2
P-OT*3

N-OT*4

*1. SERVOPACK DEC1 signal.

*2. SERVOPACK EXT1 signal.
*3. SERVOPACK P-OT signal.
*4. SERVOPACK N-OT signal.

The travel distance after detecting the ZERO signal is set in the OL42 setting parameter (Zero
Point Return Travel Distance).
Note If an overtravel signal is detected during the zero point return operation, an overtravel alarm will occur.

 Setting Parameters
Register Address Name Setting Details
Zero Point Return
OW3C 2: DEC1 + ZERO signal
Method
Zero Point Return
OW09 Bit 3 Set the zero point return direction.
Direction Selection
Set the speed at which to begin the zero point return operation.
Speed Reference Set-
OL10 Only a positive value can be set. A negative value will result in an
ting
error.
This parameter allows the travel speed to be changed without
changing the value of OL10. Set the value as a percentage of

Motion Commands
the Speed Reference Setting. This parameter can be changed
OW18 Override during operation.
Setting range: 0 to 32,767 (0% to 327.67%)
Setting unit: 1 = 0.01%
Example: Setting for 50% = 5,000
Set the speed to use after passing the DEC1 signal.
OL3E Approach Speed Only a positive value can be set. A negative value will result in an
error. 6
Set the speed to use after detecting the ZERO signal after the
DEC1 signal is detected.
OL40 Creep Speed
Only a positive value can be set. A negative value will result in an
error.
Set the travel distance from the point where the ZERO signal is
detected after passing the DEC1 signal.
Zero Point Return If the sign is positive, the axis will move in the zero point return
OL42
Travel Distance direction.
If the sign is negative, the axis will move away from the zero point
return direction.

6-29
 6.2 Motion Command Details
ZRET (Zero Point Return)

 C Pulse (OW3C = 3)

 Operation after Zero Point Return Starts

1. Travel is started at the approach speed in the direction that is specified in the parameters.
2. When the rising edge of the phase-C pulse is detected, the speed will be reduced to the creep
speed and positioning will be performed.

3. When the positioning operation has been completed, the machine coordinate system is estab-
lished with the position at the end of the positioning operation as the zero point.

Zero point Start

Zero Point Return
Travel Distance
(OL42)
Creep Speed
(OL40)

Approach Speed
(OL3E)

Phase-C pulse
P-OT*1

N-OT*2

*1. SERVOPACK P-OT signal.

*2. SERVOPACK N-OT signal.

The travel distance after the phase-C pulse is detected is set in the OL42 setting parameter (Zero
Point Return Travel Distance).
Note If an overtravel signal is detected during the zero point return operation, an overtravel alarm will occur.

 Setting Parameters
Register Address Name Setting Details
Zero Point Return
OW3C 3: C pulse
Method
Zero Point Return
OW09 Bit 3 Set the zero point return direction.
Direction Selection
Set the speed at which to begin the zero point return operation.
OL3E Approach Speed Only a positive value can be set. A negative value will result in an
error.
Set the speed to use after the phase-C pulse is detected.
OL40 Creep Speed Only a positive value can be set. A negative value will result in an
error.
Set the travel distance after the phase-C pulse is detected.
If the sign is positive, the axis will move in the zero point return
Zero Point Return
OL42 direction.
Travel Distance
If the sign is negative, the axis will move away from the zero point
return direction.

6-30
 6.2 Motion Command Details
ZRET (Zero Point Return)

 C Pulse Only (OW3C = 11)

 Operation after Zero Point Return Starts

1. Travel is started at the creep speed in the direction determined by the sign of the creep speed.
2. When the rising edge of the phase-C pulse is detected, positioning will be performed at the posi-
tioning speed.

3. When the positioning operation has been completed, the machine coordinate system is estab-
lished with the position at the end of the positioning operation as the zero point.

• Normal Operation (No Overtravel Signal Detected)

Speed Reference Setting
(OL10)

Creep Speed Zero Point Return

(OL40) Travel Distance
(OL42)

Start Zero point

Phase-C pulse
P-OT*1

N-OT*2

• Overtravel Signal Detected during Travel at the Creep Speed

Speed Reference Setting
(OL10)
Creep Speed
Zero Point Return (OL40)
Travel Distance
(OL42)
Zero point Start

Creep Speed
(OL40)

Motion Commands
Phase-C pulse
P-OT*1

N-OT*2

*1. SERVOPACK P-OT signal.

*2. SERVOPACK N-OT signal.

1. The travel distance after the phase-C pulse is detected is the value of the OL42 setting param- 6
eter (Zero Point Return Travel Distance). The positioning speed is the value of the Speed Reference
Setting parameter.
Note
2. If an overtravel signal is detected during motion at the creep speed, an overtravel alarm will not
occur. The direction will be reversed, and a search will be performed for the phase-C pulse.
3. If an overtravel signal is detected when the axis is moving at the positioning speed, an overtravel
alarm will occur.
4. The stop method when an overtravel signal is detected depends on the SERVOPACK parameter set-
tings.

6-31
 6.2 Motion Command Details
ZRET (Zero Point Return)

 Setting Parameters
Register Address Name Setting Details
Zero Point Return
OW3C 11: C pulse only
Method
Set the positioning speed to use after the phase-C pulse is detected.
Speed Reference Set- The sign is ignored.
OL10
ting The travel direction depends on the sign of the Zero Point Return
Travel Distance parameter.
Set the speed and direction (based on the sign) to begin the zero
OL40 Creep Speed
point return operation.
Zero Point Return Set the travel distance after the phase-C pulse is detected.
OL42
Travel Distance The travel direction depends on the sign.

 P-OT + C Pulse (OW3C = 12)

 Operation after Zero Point Return Starts

1. Travel is started at the approach speed until the P-OT signal is detected.
2. When the P-OT signal is detected, the direction will be reversed and the axis will return at the
creep speed.

3. Positioning is performed when the phase-C pulse is detected after passing the P-OT signal during
the zero point return operation.

4. When the positioning operation has been completed, the machine coordinate system is estab-
lished with the position at the end of the positioning operation as the zero point.
Approach Speed
(OL3E)

Phase-C pulse

Zero point
Start
Zero Point Return
Travel Distance Creep Speed
(OL42) (OL40)

Speed Reference Setting

(OL10)
P-OT*1

N-OT*2

*1. SERVOPACK P-OT signal.

*2. SERVOPACK N-OT signal.

1. The travel distance after the phase-C pulse is detected is the value of the Zero Point Return Travel
Distance parameter. The positioning speed is the value of the Speed Reference Setting parameter.
2. If a negative value is set for the approach speed, the command will end in an error.
Note
3. If an overtravel signal is detected when the axis is moving at the positioning speed, an overtravel
alarm will occur.
4. The stop method when an overtravel signal is detected depends on the SERVOPACK parameter set-
tings.

6-32
 6.2 Motion Command Details
ZRET (Zero Point Return)

 Setting Parameters
Register Address Name Setting Details
Zero Point Return
OW3C 12: P-OT + C pulse
Method
Set the positioning speed to use after the phase-C pulse is detected.
Speed Reference Set- The sign is ignored.
OL10
ting The travel direction depends on the sign of the Zero Point Return
Travel Distance parameter.
Set the speed at which to begin the zero point return operation.
OL3E Approach Speed Add a sign to this setting so that the travel direction will be posi-
tive.
Set the reversal speed to use after the P-OT signal is detected.
OL40 Creep Speed
The sign is ignored. The travel direction is negative.
Zero Point Return Set the travel distance after the phase-C pulse is detected.
OL42
Travel Distance The travel direction depends on the sign.

 P-OT Only (OW3C = 13)

 Operation after Zero Point Return Starts

1. Travel is started at the approach speed until the P-OT signal is detected.
2. When the P-OT signal is detected, the direction will be reversed and the axis will return at the
positioning speed.

3. Positioning is performed when the status of the P-OT signal changes from ON to OFF during the
zero point return operation.

4. When the positioning operation has been completed, the machine coordinate system is estab-
lished with the position at the end of the positioning operation as the zero point.

• Normal Execution
Approach Speed
(OL3E)

Motion Commands
Zero point

Start Zero Point Return

Travel Distance
(OL42)

Speed Reference Setting 6

(OL10)
P-OT*1

N-OT*2

6-33
 6.2 Motion Command Details
ZRET (Zero Point Return)

• Starting from the P-OT Signal

Start
Zero point
Zero Point
Return Travel
Distance
(OL42)

Speed Reference Setting

(OL10)
P-OT*1

N-OT*2

*1. SERVOPACK P-OT signal.

*2. SERVOPACK N-OT signal.

1. The travel distance after detecting a change in the status of the P-OT signal is the value of the Zero
Point Return Travel Distance parameter. The positioning speed is the value of the Speed Reference
Setting parameter.
Note
2. If a negative value is set for the approach speed, the command will end in an error.
3. If an overtravel signal is detected when the axis is moving at the positioning speed, an overtravel
alarm will occur.
4. Detecting changes in the overtravel signal status is performed with software processing. Therefore,
the position where positioning is completed depends on the high-speed scan setting, positioning
speed, and other settings. Do not use this method if repeat accuracy is required for the position
where the zero point return operation is completed.
5. The stop method when an overtravel signal is detected depends on the SERVOPACK parameter set-
tings.

 Setting Parameters
Register Address Name Setting Details
Zero Point Return
OW3C 13: P-OT only
Method
Set the positioning speed to use after the P-OT signal is detected.
Speed Reference Set- The sign is ignored.
OL10
ting The travel direction depends on the sign of the Zero Point Return
Travel Distance parameter.
Set the speed at which to begin the zero point return operation.
OL3E Approach Speed Add a sign to this setting so that the travel direction will be posi-
tive.
Zero Point Return Set the travel distance after detecting the P-OT signal.
OL42
Travel Distance The travel direction depends on the sign.

 HOME LS + C Pulse (OW3C = 14)

 Operation after Zero Point Return Starts

1. Travel is started at the approach speed in the direction that is specified by the sign of the
approach speed.
2. When the rising edge of the HOME signal is detected, the speed will be reduced to creep speed.
3. Positioning is performed at the positioning speed when the first phase-C pulse is detected after
the falling edge of the HOME signal.
4. When the positioning operation has been completed, the machine coordinate system is estab-
lished with the position at the end of the positioning operation as the zero point.

6-34
 6.2 Motion Command Details
ZRET (Zero Point Return)

• Normal Execution
Approach Speed
(OL3E) Speed Reference Setting
(OL10)
Creep Speed
Zero Point Return
(OL40) Travel Distance
(OL42)
Start Zero point

HOME signal*1

Phase-C pulse
P-OT*2

N-OT*3

• Overtravel Signal Detected during Travel at the Approach Speed

Approach Speed
(OL3E)
Speed Reference Setting
Creep Speed (OL10)
(OL40)
Zero Point Return
Travel Distance
(OL42)

Start Zero point

Approach Speed
HOME signal*1 (OL3E)

Phase-C pulse
P-OT*2

N-OT*3

*1. SERVOPACK EXT1 signal.

*2. SERVOPACK P-OT signal.
*3. SERVOPACK N-OT signal.

Motion Commands
1. The travel distance after the phase-C pulse is detected is the value of the Zero Point Return Travel
Distance parameter. The positioning speed is the value of the Speed Reference Setting parameter.
2. If an overtravel signal is detected during motion at the approach speed, an overtravel alarm will not
Note
occur. The direction will be reversed, and a search will be performed for the HOME signal.
3. If an overtravel signal is detected when the axis is moving at the positioning speed, an overtravel
alarm will occur.
4. The stop method when an overtravel signal is detected depends on the SERVOPACK parameter set- 6
tings.

6-35
 6.2 Motion Command Details
ZRET (Zero Point Return)

 Setting Parameters
Register Address Name Setting Details
Zero Point Return
OW3C 14: HOME LS + C pulse
Method
Set the positioning speed to use after the phase-C pulse is detected.
Speed Reference Set- The sign is ignored.
OL10
ting The travel direction depends on the sign of the Zero Point Return
Travel Distance parameter.
Set the speed at which to begin the zero point return operation.
OL3E Approach Speed
The travel direction depends on the sign of the approach speed.
Set the speed and direction (based on the sign) after the HOME sig-
OL40 Creep Speed
nal is detected.
Zero Point Return Set the travel distance after the phase-C pulse is detected.
OL42
Travel Distance The travel direction depends on the sign.

 HOME Only (OW3C = 15)

 Operation after Zero Point Return Starts

1. Travel is started at the creep speed in the direction determined by the sign of the creep speed.
2. When the rising edge of the HOME signal is detected, positioning will be performed at the posi-
tioning speed.

3. When the positioning operation has been completed, the machine coordinate system is estab-
lished with the position at the end of the positioning operation as the zero point.
• Normal Execution
Speed Reference Setting
(OL10)

Creep Speed Zero Point Return

(OL40) Travel Distance
(OL42)

Start Zero point

HOME signal*1
P-OT*2

N-OT*3

• Overtravel Signal Detected during Travel at the Creep Speed

Speed Reference Setting
(OL10)

Creep Speed
Zero Point Return
Travel Distance (OL40)
(OL42)
Zero point Start

Creep Speed
(OL40)

HOME LS signal*1
P-OT*2
N-OT*3

*1. SERVOPACK EXT1 signal.

*2. SERVOPACK P-OT signal.
*3. SERVOPACK N-OT signal.

6-36
 6.2 Motion Command Details
ZRET (Zero Point Return)

1. The travel distance after the HOME signal is detected is the value of the Zero Point Return Travel
Distance parameter. The positioning speed is the value of the Speed Reference Setting parameter.
2. If an overtravel signal is detected during motion at the creep speed, an overtravel alarm will not
Note
occur. The direction will be reversed, and a search will be performed for the HOME signal.
3. If an overtravel signal is detected when the axis is moving at the positioning speed, an overtravel
alarm will occur.
4. The stop method when an overtravel signal is detected depends on the SERVOPACK parameter set-
tings.

 Setting Parameters
Register Address Name Setting Details
Zero Point Return
OW3C 15: HOME only
Method
Set the positioning speed to use after the HOME signal is detected.
Speed Reference Set- The sign is ignored.
OL10
ting The travel direction depends on the sign of the Zero Point Return
Travel Distance parameter.
Set the speed and direction (based on the sign) to begin the zero
OL40 Creep Speed
point return operation.
Zero Point Return Set the travel distance after detecting the HOME signal.
OL42
Travel Distance The travel direction depends on the sign.

 N-OT + C Pulse (OW3C = 16)

 Operation after Zero Point Return Starts

1. Travel is started at the approach speed until the N-OT signal is detected.
2. When the N-OT signal is detected, the direction will be reversed and the axis will return at the
creep speed.

3. Positioning is performed when the phase-C pulse is detected after passing the N-OT signal during
the zero point return operation.

Motion Commands
4. When the positioning operation has been completed, the machine coordinate system is estab-
lished with the position at the end of the positioning operation as the zero point.

Phase-C pulse
Creep Speed
(OL40)

Zero point Start 6

Zero Point Return
Travel Distance
(OL42)

Speed Reference Setting

(OL10)
Approach Speed
(OL3E) P-OT*1

N-OT*2

*1. SERVOPACK P-OT signal.

*2. SERVOPACK N-OT signal.

6-37
 6.2 Motion Command Details
ZRET (Zero Point Return)

1. The travel distance after the phase-C pulse is detected is the value of the Zero Point Return Travel
Distance parameter. The positioning speed is the value of the Speed Reference Setting parameter.
2. If a positive value is set for the approach speed, the command will end in an error.
Note
3. If an overtravel signal is detected when the axis is moving at the positioning speed, an overtravel
alarm will occur.
4. The stop method when an overtravel signal is detected depends on the SERVOPACK parameter set-
tings.

 Setting Parameters
Register Address Name Setting Details
Zero Point Return
OW3C 16: N-OT + C pulse
Method
Set the positioning speed to use after the phase-C pulse is detected.
Speed Reference Set- The sign is ignored.
OL10
ting The travel direction depends on the sign of the Zero Point Return
Travel Distance parameter.
Set the speed at which to begin the zero point return operation.
OL3E Approach Speed Add a sign to this setting so that the travel direction will be nega-
tive.
Set the speed to use after the N-OT signal is detected.
OL40 Creep Speed
The travel direction is positive.
Zero Point Return Set the travel distance after the phase-C pulse is detected.
OL42
Travel Distance The travel direction depends on the sign.

 N-OT Only (OW3C = 17)

 Operation after Zero Point Return Starts

1. Travel is started at the approach speed until the N-OT signal is detected.
2. When the N-OT signal is detected, the direction will be reversed and the axis will return at the
positioning speed.

3. Positioning is performed when the status of the N-OT signal changes from ON to OFF during the
zero point return operation.

4. When the positioning operation has been completed, the machine coordinate system is estab-
lished with the position at the end of the positioning operation as the zero point.
Speed Reference Setting
(OL10)
Zero Point
Return Travel
Distance
(OL42) Start

Zero point

Approach Speed
(OL3E) P-OT*1

N-OT*2

*1. SERVOPACK P-OT signal.

*2. SERVOPACK N-OT signal.

6-38
 6.2 Motion Command Details
ZRET (Zero Point Return)

1. The travel distance after detecting a change in the status of the N-OT signal is the value of the Zero
Point Return Travel Distance parameter. The positioning speed is the value of the Speed Reference
Setting parameter.
Note
2. If a positive value is set for the approach speed, the command will end in an error.
3. If an overtravel signal is detected when the axis is moving at the positioning speed, an overtravel
alarm will occur.
4. Detecting changes in the overtravel signal status is performed with software processing. Therefore,
the position where positioning is completed depends on the high-speed scan setting, positioning
speed, and other settings. Do not use this method if repeat accuracy is required for the position
where the zero point return operation is completed.
5. The stop method when an overtravel signal is detected depends on the SERVOPACK parameter set-
tings.

 Setting Parameters
Register Address Name Setting Details
Zero Point Return
OW3C 17: N-OT only
Method
Set the positioning speed to use after the N-OT signal is detected.
Speed Reference Set- The sign is ignored.
OL10
ting The travel direction depends on the sign of the Zero Point Return
Travel Distance parameter.
Set the speed at which to begin the zero point return operation.
OL3E Approach Speed Add a sign to this setting so that the travel direction will be nega-
tive.
Zero Point Return Set the travel distance after detecting the N-OT signal.
OL42
Travel Distance The travel direction depends on the sign.

Motion Commands

6-39
 6.2 Motion Command Details
ZRET (Zero Point Return)

 INPUT + C Pulse (OW3C = 18)

 Operation after Zero Point Return Starts

1. Travel is started at the approach speed in the direction that is specified by the sign of the
approach speed.

2. When the rising edge of the INPUT signal is detected, the speed will be reduced to creep speed.
3. Positioning is performed at the positioning speed when the first phase-C pulse is detected after
the falling edge of the INPUT signal.

4. When the positioning operation has been completed, the machine coordinate system is estab-
lished with the position at the end of the positioning operation as the zero point.

• Normal Execution
Approach Speed
(OL3E) Speed Reference Setting
(OL10)
Creep Speed
Zero Point Return
(OL40) Travel Distance
(OL42)
Start Zero point
INPUT signal (bit B in OW05)

Phase-C pulse
P-OT*1

N-OT*2

• Overtravel Signal Detected during Travel at the Approach Speed

Approach Speed
(OL3E)
Speed Reference Setting (OL10)

Zero Point Return

Travel Distance
Start (OL42)
Zero point
Creep Speed
(OL40)

INPUT signal
Approach Speed (bit B in OW05)
(OL3E)

Phase-C pulse
P-OT*1
N-OT*2

*1. SERVOPACK P-OT signal.

*2. SERVOPACK N-OT signal.

1. The travel distance after the phase-C pulse is detected is the value of the Zero Point Return Travel
Distance parameter. The positioning speed is the value of the Speed Reference Setting parameter.
2. If an overtravel signal is detected during motion at the approach speed, an overtravel alarm will not
Note
occur. The direction will be reversed, and a search will be performed for the INPUT signal.
3. If an overtravel signal is detected when the axis is moving at the positioning speed, an overtravel
alarm will occur.
4. The stop method when an overtravel signal is detected depends on the SERVOPACK parameter set-
tings.

6-40
 6.2 Motion Command Details
ZRET (Zero Point Return)

 Setting Parameters
Register Address Name Setting Details
Zero Point Return
OW3C 18: INPUT + C pulse
Method
Set the positioning speed to use after the phase-C pulse is detected.
Speed Reference Set- The sign is ignored.
OL10
ting The travel direction depends on the sign of the Zero Point Return
Travel Distance parameter.
Set the speed at which to begin the zero point return operation.
OL3E Approach Speed
The travel direction depends on the sign of the approach speed.
Set the speed and direction (based on the sign) after the INPUT sig-
OL40 Creep Speed
nal is detected.
Zero Point Return Set the travel distance after the phase-C pulse is detected.
OL42
Travel Distance The travel direction depends on the sign.
Zero Point Return
OW05 Bit B This signal must be turned ON from a ladder program.
Input Signal

 INPUT Only (OW3C = 19)

 Operation after Zero Point Return Starts

1. Travel is started at the creep speed in the direction determined by the sign of the creep speed.
2. When the rising edge of the INPUT signal is detected, positioning will be performed at the posi-
tioning speed.

3. When the positioning operation has been completed, the machine coordinate system is estab-
lished with the position at the end of the positioning operation as the zero point.

1. The travel distance after the INPUT signal is detected is the value of the Zero Point Return Travel
Distance parameter. The positioning speed is the value of the Speed Reference Setting parameter.
2. If an overtravel signal is detected during motion at the creep speed, an overtravel alarm will not
Note
occur. The direction will be reversed, and a search will be performed for the INPUT signal.
3. If an overtravel signal is detected when the axis is moving at the positioning speed, an overtravel
alarm will occur.

Motion Commands
4. The INPUT signal is assigned to bit B in OW05. This allows the zero point return operation
to be performed without actually wiring a signal. This method can therefore be used to temporarily
set the zero point for test run adjustments.
5. Detection of the rising edge of the INPUT signal is performed with software processing. The posi-
tion where positioning is completed depends on the high-speed scan setting, positioning speed, and
other settings. Do not use this method if repeat accuracy is required for the position where the zero
point return operation is completed.
6. The stop method when an overtravel signal is detected depends on the SERVOPACK parameter set-
tings. 6

6-41
 6.2 Motion Command Details
ZRET (Zero Point Return)

• Normal Execution
Speed Reference Setting
(OL10)

Creep Speed
(OL40) Zero Point Return
Travel Distance
(OL42)
Start Zero point

INPUT signal (bit B in OW05)

P-OT*1

N-OT*2

• Overtravel Signal Detected during Travel at the Creep Speed

Creep Speed
(OL40)

Start Zero point

Zero Point Return

Travel Distance
Creep Speed (OL42)
(OL40)

Speed Reference Setting

(OL10)
INPUT signal (bit B in OW05)
P-OT*1

N-OT*2

*1. SERVOPACK P-OT signal.

*2. SERVOPACK N-OT signal.

 Setting Parameters
Register Address Name Setting Details
Zero Point Return
OW3C 19: INPUT only
Method
Set the positioning speed to use after the INPUT signal is detected.
Speed Reference Set- The sign is ignored.
OL10
ting The travel direction depends on the sign of the Zero Point Return
Travel Distance parameter.
Set the speed and direction (based on the sign) to begin the zero
OL40 Creep Speed
point return operation.
Zero Point Return Set the travel distance after detecting the INPUT signal.
OL42
Travel Distance The travel direction depends on the sign.
Zero Point Return
OW05 Bit B This signal must be turned ON from a ladder program.
Input Signal

6-42
 6.2 Motion Command Details
INTERPOLATE (Interpolation)

INTERPOLATE (Interpolation)
The INTERPOLATE command positions the axis according to target position data that changes in sync
with the high-speed scan. The positioning data is created by a ladder program.

Information • Speed feedforward compensation can be applied.

• Torque feedforward compensation can be used with the INTERPOLATE command.
The torque feedforward compensation is set in the OL0C setting parameter (Torque/Force
Reference Setting or Torque Feedforward Compensation). If torque feedforward compensation
is not necessary, set OL0C to 0.
• The torque can be limited with the OL14 setting parameter (Torque/Force Limit).
OL14 can be changed at any time. The intended operation may not be achieved if the set
value is too small.

Execution and Operating Procedures

1. Make sure that all of the following conditions are met.
No. Execution Condition Confirmation Method
1 There must be no alarms. Both IL02 and IL04 must be 0.
2 The Servomotor’s power must be ON. Bit 1 in IW00 must be 1.
IW08 must be 0 and bit 0 in
3 Motion command execution must be completed.
IW09 must be 0.

2. Set the following setting parameters.

• OW01 (Speed Loop P/PI Switch)
• OW03, Bits 8 to B (Filter Type Selection)
• OL0C (Torque/Force Reference Setting or Torque Feedforward Compensation)
• OW12 (Speed Limit)
• OL14 (Torque/Force Limit)
• OL1C (Position Reference Setting)
• OW30 (Speed Feedforward Compensation)

3. Set the OW08 setting parameter (Motion Commands) to 4 to execute the INTERPOLATE
motion command.

Motion Commands
During positioning, the IW08 monitor parameter (Motion Command Response Code) will be 4.

4. The value of OL1C is updated every high-speed scan.

The target position is updated to the updated value of OL1C.
The difference between the target position of one high-speed scan and that of the next high-speed scan
determines the travel speed.
When the target position is reached, bit 1 (Positioning Completed) in the IW0C monitor parameter
will change to 1 (Within positioning completed range) and positioning will end.
6
Information When bit 5 (Position Reference Type) in the OW09 setting parameter is set to the incre-
mental addition method, the previous target position is added to the difference between the
current value and the previous value of OL1C to find the target position.

5. Set OW08 to 0 to execute the NOP motion command.

This concludes interpolation positioning.

6-43
 6.2 Motion Command Details
INTERPOLATE (Interpolation)

Operating Patterns
The following figure shows the operating pattern when the INTERPOLATE command is executed.
Speed (%)

Position

0
Time (t)
Positioning completed range

POSCOMP

Holding and Canceling Commands

The axis stops if there is no change in the target position each high-speed scan.
Bit 0 (Hold Command) and bit 1 (Cancel Command) in the OW09 setting parameter cannot be used
to stop the axis.
Change the motion command to stop an interpolation operation.

Related Parameters

 Setting Parameters
Register
Name Setting Details
Address
Use this bit to turn the power to the Servomotor ON or OFF.
OW00 Set this parameter to 1 before setting OW08 to 4 (INTERPO-
Servo ON
Bit 0 LATE).
0: Servo OFF, 1: Servo ON
These bits select the stop method to use when a command is canceled.
OW02 0: Stop according to the Linear Deceleration Rate/Deceleration Time
Stop Mode Selection
Bits 8 to F Constant parameter
1: Stop immediately
OW03 Function Settings 1 Select the speed unit, acceleration/deceleration unit, and filter type.
Positioning is started when this parameter is set to 4 (INTERPO-
OW08 Motion Commands
LATE).
Set the position reference type.
OW09 Set this bit before setting OW08 to 4 (INTERPOLATE).
Position Reference Type
Bit 5 0: Incremental value addition method
1: Absolute value specification method
Torque/Force Reference
OL0C Setting or Torque Feed- Set the torque feedforward amount during interpolation.
forward Compensation
Set the upper speed limit as a percentage of the rated speed. This value
OW12 Speed Limit is an absolute value. It is used in both the positive and negative direc-
tions.
OL14 Torque/Force Limit Set the torque limit during interpolation.
Position Reference Set- Set the target position for positioning. This parameter is updated every
OL1C
ting high-speed scan.
Continued on next page.

6-44
 6.2 Motion Command Details
INTERPOLATE (Interpolation)

Continued from previous page.

Register
Name Setting Details
Address
Positioning Completion Set this parameter to the value for which bit 1 in IW0C will
OL1E
Width change to 1 (Within positioning completed range).
Set this parameter to the value for which bit 3 in IW0C will
NEAR Signal Output change to 1 (Within near position range). Bit 3 changes to 1 when the
OL20
Width absolute value of the difference between the reference position and the
feedback position is within the range that is specified here.
Set the speed feedforward amount as a percentage of the rated speed.
OW31 Speed Compensation
The setting unit for this parameter is always 0.01%.
Linear Deceleration
Set the positioning deceleration rate with the deceleration time.
OL38 Rate/Deceleration Time
This parameter is used for decelerating to a stop when an alarm occurs.
Constant
Set the acceleration/deceleration filter time constant.
Exponential acceleration/deceleration or a moving average filter can
OW3A Filter Time Constant be selected in bits 8 to B in OW03. This setting can be changed
only when reference pulse distribution has been completed (i.e., when
bit 0 in IW0C is 1).

 Monitor Parameters
Register
Name Monitored Contents
Address
IW00 Running with Servo This bit shows the Servo status for the axis.
Bit 1 ON 0: Stopped, 1: Running with Servo ON
IL02 Warnings This parameter reports the current warning status.
IL04 Alarms This parameter reports the current alarm status.
Motion Command This parameter shows the motion command currently in execution.
IW08
Response Code This parameter is 4 during execution of the INTERPOLATE command.
IW09 Command Execution
This bit is always 0 (Completed) for the INTERPOLATE command.
Bit 0 Flag
IW09 Command Hold This bit is always 0 (Command hold not completed) for the INTERPO-
Bit 1 Completed LATE command.
This bit changes to 1 (Completed with an error) when an error occurs

Motion Commands
IW09 during execution of the INTERPOLATE command.
Command Error End
Bit 3 The axis will decelerate to a stop if it is moving. This bit changes to 0
(Completed normally) when another command is executed.
IW09 Command Execution This bit is always 0 (Normal execution not completed) for the INTERPO-
Bit 8 Completed LATE command.
This bit changes to 1 (Distribution completed) when the distribution of ref-
IW0C Distribution Com- erence pulses for the movement motion command is completed.
Bit 0 pleted This bit is 0 (Distributing pulses) when the execution of a movement
motion command is in progress.
6
This bit is 1 (Within positioning completed range) when pulse distribution
IW0C Positioning Com-
is completed and the current position is within the positioning completed
Bit 1 pleted
range. This bit is 0 (Outside positioning completed range) in all other cases.

6-45
 6.2 Motion Command Details
INTERPOLATE (Interpolation)

Register
Name Monitored Contents
Address
The operation of this bit depends on the set value of OL20.
If OL20 is 0, this bit is 1 (Within near position range) when reference
pulse distribution is completed (i.e., when DEN is 1), and it is 0 (Outside
near position range) when reference pulse distribution is not completed.
When OL20 is not 0, this bit is 1 when within the range of the fol-
IW0C
Near Position lowing formula, regardless of the state of reference pulse distribution, and 0
Bit 3
in all other cases.
| (IL12) − (IL16) | ≤ OL20
IL12: Machine Coordinate System Reference Position
IL16: Machine Coordinate System Feedback Position
OL20: NEAR Signal Output Width

Timing Charts

 Normal Execution
The target position is updated every high-speed scan.

OW08 = 4 (INTERPOLATE)
IW08 = 4 (INTERPOLATE)
IW09 Bit 0 (BUSY)
IW09 Bit 3 (FAIL)
IW09 Bit 8 (COMPLETE)
IW0C Bit 0 (DEN)
IW0C Bit 1 (POSCOMP)

1 scan This interval is not constant.

 Execution When an Alarm Occurs

OW08 = 4 (INTERPOLATE)
Alarms
IW08 = 4 (INTERPOLATE)
IW09 Bit 0 (BUSY)
IW09 Bit 3 (FAIL)
IW09 Bit 8 (COMPLETE)
IW0C Bit 0 (DEN)
IW0C Bit 1 (POSCOMP)

1 scan This interval is not constant.

6-46
 6.2 Motion Command Details
LATCH (Latch)

LATCH (Latch)
The LATCH command saves the current position to a register when the latch signal is detected during
interpolation feeding.
Set bits 0 to 3 (Latch Signal Selection) in the OW04 setting parameter to select either phase-C
pulse, /EXT1, /EXT2, or /EXT3 for the latch signal.

Information • Speed feedforward compensation can be applied.

• If you want to execute the LATCH command again after you have already latched the current
position with the LATCH command, change the motion command code to NOP for at least one
scan before issuing the LATCH command again.
• Torque feedforward compensation can be used with the LATCH command. The torque feedfor-
ward compensation is set in the OL0C setting parameter (Torque/Force Reference Setting
or Torque Feedforward Compensation). If torque feedforward compensation is not necessary, set
OL0C to 0.
• The torque can be limited with the OL14 setting parameter (Torque/Force Limit). OL14
can be changed at any time. The intended operation may not be achieved if the set value is too small.

Execution and Operating Procedures

1. Make sure that all of the following conditions are met.
No. Execution Condition Confirmation Method
1 There must be no alarms. Both IL02 and IL04 must be 0.
2 The Servomotor’s power must be ON. Bit 1 in IW00 must be 1.
IW08 must be 0 and bit 0 in
3 Motion command execution must be completed.
IW09 must be 0.

2. Set the following setting parameters.

• OW01 (Speed Loop P/PI Switch)
• OW03, Bits 8 to B (Filter Type Selection)
• OW04, Bits 0 to 3 (Latch Signal Selection)
• OL0C (Torque/Force Reference Setting or Torque Feedforward Compensation)
• OW12 (Speed Limit)
• OL14 (Torque/Force Limit)

Motion Commands
• OL1C (Position Reference Setting)
• OW30 (Speed Feedforward Compensation)

3. Set the OW08 setting parameter (Motion Commands) to 6 to execute the LATCH motion
command.
During positioning, the IW08 monitor parameter (Motion Command Response Code) will be 6.

4. The value of OL1C is updated every high-speed scan. 6

The target position is updated to the updated value of OL1C.
The difference between the target position of one high-speed scan and that of the next high-speed scan
determines the travel speed.
When the target position is reached, bit 1 (Positioning Completed) in the IW0C monitor parameter
will change to 1 (Within positioning completed range) and positioning will end.

Information • When bit 5 (Position Reference Type) of the OW09 setting parameter is set to the
incremental addition method, the previous target position is added to the difference between
the current value and the previous value of OL1C to find the target position.
• Always consider the latch processing time that is obtained with the following equation
when executing the LATCH command.
Latch processing time = 2 scans + MECHATROLINK communications cycle + SERVO-
PACK processing time (4 ms max.)

6-47
 6.2 Motion Command Details
LATCH (Latch)

5. Set OW08 to 0 to execute the NOP motion command.

This concludes interpolation positioning.

Operating Patterns
The following figure shows the operating pattern when the LATCH command is executed.
Speed (%) This position is reported
in IL18.

Position

0
Time (t)
Latch signal

Positioning
completed range
POSCOMP

Holding and Canceling Commands

The axis stops if there is no change in the target position each high-speed scan.
Bit 0 (Hold Command) and bit 1 (Cancel Command) in the OW09 setting parameter cannot be used
to stop the axis.
Change the motion command to stop an interpolation operation.

Related Parameters

 Setting Parameters
Register
Name Setting Details
Address
Use this bit to turn the power to the Servomotor ON or OFF.
OW00
Servo ON Set this parameter to 1 before setting OW08 to 6 (LATCH).
Bit 0
0: Servo OFF, 1: Servo ON
These bits select the stop method to use when a command is canceled.
OW02 0: Stop according to the Linear Deceleration Rate/Deceleration Time
Stop Mode Selection
Bits 8 to F Constant parameter
1: Stop immediately
OW03 Function Settings 1 Select the speed unit, acceleration/deceleration unit, and filter type.
OW04
Latch Signal Selection Select the latch signal.
Bits 0 to 3
OW08 Motion Commands Positioning is started when this parameter is set to 6 (LATCH).
Set the position reference type.
OW09 Position Reference Set this bit before setting OW08 to 6 (LATCH).
Bit 5 Type 0: Incremental value addition method
1: Absolute value specification method
Torque/Force Refer-
ence Setting or Torque
OL0C Set the torque feedforward amount during interpolation positioning.
Feedforward Com-
pensation
Set the upper speed limit as a percentage of the rated speed. This value is
OW12 Speed Limit
an absolute value. It is used in both the positive and negative directions.
Continued on next page.

6-48
 6.2 Motion Command Details
LATCH (Latch)

Continued from previous page.

Register
Name Setting Details
Address
OL14 Torque/Force Limit Set the torque limit for interpolation positioning.
Position Reference Set the target position for positioning. This parameter is updated every
OL1C
Setting high-speed scan.
Positioning Comple- Set this parameter to the value for which bit 1 in IW0C will change
OL1E
tion Width to 1 (Within positioning completed range).
Set this parameter to the value for which bit 3 in IW0C will change
NEAR Signal Output to 1 (Within near position range). Bit 3 changes to 1 when the absolute
OL20
Width value of the difference between the reference position and the feedback
position is within the range that is specified here.
Set the speed feedforward amount as a percentage of the rated speed.
OW31 Speed Compensation
The setting unit for this parameter is always 0.01%.
Linear Deceleration
Set the positioning deceleration rate with the deceleration time.
OL38 Rate/Deceleration
This parameter is used for decelerating to a stop when an alarm occurs.
Time Constant
Set the acceleration/deceleration filter time constant. Exponential acceler-
ation/deceleration or a moving average filter can be selected in bits 8 to B
OW3A Filter Time Constant in OW03.
This setting can be changed only when reference pulse distribution has
been completed (i.e., when bit 0 in IW0C is 1).

 Monitor Parameters
Register
Name Monitored Contents
Address
IW00 Running with Servo This bit shows the Servo status for the axis.
Bit 1 ON 0: Stopped, 1: Running with Servo ON
IL02 Warnings This parameter reports the current warning status.
IL04 Alarms This parameter reports the current alarm status.
Motion Command This parameter shows the motion command currently in execution.
IW08
Response Code This parameter is 6 during execution of the LATCH command.
IW09 Command Execution
This bit is always 0 (Completed) for the LATCH command.
Bit 0 Flag

Motion Commands
IW09 Command Hold This bit is always 0 (Command hold not completed) for the LATCH com-
Bit 1 Completed mand.
This bit changes to 1 (Completed with an error) when an error occurs
IW09 during execution of the LATCH command.
Command Error End
Bit 3 The axis will decelerate to a stop if it is moving. This bit changes to 0
(Completed normally) when another command is executed.
IW09 Command Execution This bit is always 0 (Normal execution not completed) for the LATCH
Bit 8 Completed command. 6
This bit changes to 1 (Distribution completed) when the distribution of ref-
IW0C Distribution Com- erence pulses for the movement motion command is completed.
Bit 0 pleted This bit is 0 (Distributing pulses) when the execution of a movement
motion command is in progress.
This bit is 1 (Within positioning completed range) when pulse distribution
IW0C Positioning Com-
is completed and the current position is within the positioning completed
Bit 1 pleted
range. This bit is 0 (Outside positioning completed range) in all other cases.
This bit changes to 0 (Latch not complete) when a new latch command is
IW0C
Latch Completed executed and it changes to 1 (Latch completed) when the latch is com-
Bit 2
pleted. The latched position is reported in IL18.

6-49
 6.2 Motion Command Details
LATCH (Latch)

Timing Charts

 Normal Execution
The target position is updated every high-speed scan.
This position is reported.
(IL18)

OW08 = 6 (LATCH)
IW08 = 6 (LATCH)
IW09 Bit 0 (BUSY)
IW09 Bit 3 (FAIL)
IW09 Bit 8 (COMPLETE)
IW0C Bit 0 (DEN)

IW0C Bit 1 (POSCOMP)

1 scan This interval is not constant.
Latch signal*
IW0C Bit 2 (LCOMP)

* Latch signal: Phase-C pulse, /EXT1, /EXT2, or /EXT3

 Execution When an Alarm Occurs

OW08 = 6 (LATCH)
Alarms
IW08 = 6 (LATCH)
IW09 Bit 0 (BUSY)
IW09 Bit 3 (FAIL)
IW09 Bit 8 (COMPLETE)
IW0C Bit 0 (DEN)
IW0C Bit 1 (POSCOMP)

1 scan This interval is not constant.

6-50
 6.2 Motion Command Details
FEED (Jog)

FEED (Jog)
The FEED command starts movement in the specified travel direction at the specified travel speed. Exe-
cute the NOP command to stop the operation.

Execution and Operating Procedures

1. Make sure that all of the following conditions are met.
No. Execution Condition Confirmation Method
1 There must be no alarms. Both IL02 and IL04 must be 0.
2 The Servomotor’s power must be ON. Bit 1 in IW00 must be 1.
IW08 must be 0 and bit 0 in
3 Motion command execution must be completed.* IW09 must be 0.
* This condition refers to basic command execution. Refer to the following chapter for details on switching
from another command.
Chapter 7 Switching Commands

2. Set the following setting parameters.

• OW01 (Speed Loop P/PI Switch)
• OW03, Bits 8 to B (Filter Type Selection)
• OW09, Bit 2 (Travel Direction for JOG/STEP)
• OL10 (Speed Reference Setting)
• OW12 (Speed Limit)
• OL14 (Torque/Force Limit)
• OL36 (Linear Acceleration Rate/Acceleration Time Constant)
• OL38 (Linear Deceleration Rate/Deceleration Time Constant)

Information • OL10 can be changed during motion.

• OL14 can be changed at any time. The intended operation may not be achieved if the
set value is too small.
• If OL36 and OL38 are changed during operation, the specifications of the
SERVOPACK determine whether these changes are applied to acceleration and decelera-
tion.

Motion Commands
3. Set the OW08 setting parameter (Motion Commands) to 7 to execute the FEED motion
command.
The jogging operation starts. During the jogging operation, the IW08 monitor parameter (Motion
Command Response Code) is 7.

4. Set OW08 to 0 to execute the NOP motion command.

Bit 1 (Positioning Completed) in the IW0C monitor parameter changes to 1 (Within positioning
completed range).
6
This concludes the jogging operation.

6-51
 6.2 Motion Command Details
FEED (Jog)

Operating Patterns
The following figure shows the operating pattern when the FEED command is executed.

Speed (%)
Rated speed
(100%)

NOP command
Feed Speed

Position

0
Time (t)
Linear Acceleration Linear Deceleration
Time Constant Time Constant
(OL36) (OL38)

Holding
Holding execution of the FEED command is not possible. Bit 0 (Hold Command) in the OW09 set-
ting parameter will be ignored.

Canceling
• To cancel a jogging operation, set bit 1 (Cancel Command) in the OW09 setting parameter to 1
(Cancel Command ON).
When bit 1 in OW09 is set to 1, the axis will decelerate to a stop.
The deceleration operation depends on the setting of bits 8 to F (Stop Mode Selection) in the
OW02 setting parameter.
After the axis decelerates to a stop, bit 1 (Positioning Completed) in the IW0C monitor parameter
will change to 1 (Within positioning completed range).
• The jogging operation resumes if bit 1 (Cancel Command) in the OW09 setting parameter is set
to 0 (Cancel Command OFF) during processing of the cancel operation.
• The same operation as the Cancel Command operation will be performed if the motion command code
is changed during axis motion.

1. Due to the delay that occurs when sending or receiving commands and responses between the CPU
Function Module and the SVC or SVC32 Function Module, the cancel processing may have been
completed (IW08 is 7 and bit 8 in IW09 is 1), even though an attempt was made to
Note
restart the operation. In this case, operation cannot be resumed. Set OW08 to any command
other than FEED (e.g., NOP), and then start the operation again.
2. If an operation is to be frequently canceled and restarted within a short interval, remember to con-
sider this delay.

6-52
 6.2 Motion Command Details
FEED (Jog)

Related Parameters

 Setting Parameters
Register
Name Setting Details
Address
Use this bit to turn the power to the Servomotor ON or OFF.
OW00
Servo ON Set this parameter to 1 before setting OW08 to 7 (FEED).
Bit 0
0: Servo OFF, 1: Servo ON
Use this bit to change the speed control loop between PI control and P
OW01
Speed Loop P/PI Switch control.
Bit 3
0: PI control, 1: P control
These bits select the stop method to use when a command is canceled.
OW02 0: Stop according to the Linear Deceleration Rate/Deceleration Time
Stop Mode Selection
Bits 8 to F Constant parameter
1: Stop immediately
OW03 Function Settings 1 Select the speed unit, acceleration/deceleration unit, and filter type.
The jogging operation starts when this parameter is set to 7 (FEED).
The axis will decelerate to a stop and the jogging operation will be
OW08 Motion Commands
completed if this parameter is set to 0 (NOP) during the jogging opera-
tion.
OW09 When this bit is set to 1 (ON) during jogging, the axis will decelerate to
Cancel Command
Bit 1 a stop.
OW09 Travel Direction for Set the travel direction for jogging.
Bit 2 JOG/STEP 0: Forward, 1: Reverse
Specify the positioning speed. This parameter can be changed during
OL10 Speed Reference Setting operation.
The unit depends on the set value of bits 0 to 3 in OW03.
Set the upper speed limit as a percentage of the rated speed. This value
OW12 Speed Limit is an absolute value. It is used in both the positive and negative direc-
tions.
OL14 Torque/Force Limit Set the torque limit for jogging.
This parameter allows the feed speed to be changed without changing
the value of OL10.
Set the value as a percentage of the Speed Reference Setting. This

Motion Commands
OW18 Override parameter can be changed during operation.
Setting range: 0 to 32,767 (0% to 327.67%)
Setting unit: 1 = 0.01%
Example: Setting for 50% = 5,000
Positioning Completion Set this parameter to the value for which bit 1 in IW0C will
OL1E
Width change to 1 (Within positioning completed range).
Set this parameter to the value for which bit 3 in IW0C will
NEAR Signal Output change to 1 (Within near position range). Bit 3 changes to 1 when the 6
OL20
Width absolute value of the difference between the reference position and the
feedback position is within the range that is specified here.
Linear Acceleration
Set the jogging acceleration rate with the acceleration rate or the accel-
OL36 Rate/Acceleration Time
eration time.
Constant
Linear Deceleration
Set the jogging deceleration rate with the deceleration rate or the decel-
OL38 Rate/Deceleration Time
eration time.
Constant
Set the acceleration/deceleration filter time constant. Exponential
acceleration/deceleration or a moving average filter can be selected in
OW3A Filter Time Constant bits 8 to B in OW03.
This setting can be changed only when reference pulse distribution has
been completed (i.e., when bit 0 in IW0C is 1).

6-53
 6.2 Motion Command Details
FEED (Jog)

 Monitor Parameters
Register
Name Monitored Contents
Address
IW00 Running with Servo This bit shows the Servo status for the axis.
Bit 1 ON 0: Stopped, 1: Running with Servo ON
IL02 Warnings This parameter reports the current warning status.
IL04 Alarms This parameter reports the current alarm status.
Motion Command This parameter shows the motion command currently in execution.
IW08
Response Code This parameter is 7 during execution of the FEED command.
This bit changes to 1 (Processing) when cancel processing is being per-
IW09 Command Execution
formed for the FEED command. This bit changes to 0 (Completed) when
Bit 0 Flag
cancel processing has been completed.
IW09 Command Hold This bit is always 0 (Command hold not completed) for the FEED com-
Bit 1 Completed mand.
This bit changes to 1 (Completed with an error) when an error occurs
IW09 during execution of the FEED command.
Command Error End
Bit 3 The axis will decelerate to a stop if it is moving. This bit changes to 0
(Completed normally) when another command is executed.
IW09 Command Execution This bit is always 0 (Normal execution not completed) for the FEED com-
Bit 8 Completed mand.
This bit changes to 1 (Distribution completed) when the distribution of ref-
IW0C Distribution Com- erence pulses for the movement motion command is completed.
Bit 0 pleted This bit is 0 (Distributing pulses) when the execution of a movement
motion command is in progress.
This bit is 1 (Within positioning completed range) when pulse distribution
IW0C Positioning Com-
is completed and the current position is within the positioning completed
Bit 1 pleted
range. This bit is 0 (Outside positioning completed range) in all other cases.
The operation of this bit depends on the set value of OL20.
If OL20 is 0, this bit is 1 (Within near position range) when reference
pulse distribution is completed (i.e., when DEN is 1), and it is 0 (Outside
near position range) when reference pulse distribution is not completed.
When OL20 is not 0, this bit is 1 when within the range of the fol-
IW0C lowing formula, regardless of the state of reference pulse distribution, and 0
Near Position
Bit 3 in all other cases.
| (IL12) − (IL16) | ≤ OL20
IL12: Machine Coordinate System Reference Position
IL16: Machine Coordinate System Feedback Position
OL20: NEAR Signal Output Width

6-54
 6.2 Motion Command Details
FEED (Jog)

Timing Charts

 Normal Execution

OW08 = 7 (FEED)
IW08 = 7 (FEED)
IW09 Bit 0 (BUSY)
IW09 Bit 3 (FAIL)
IW09 Bit 8 (COMPLETE)
IW0C Bit 0 (DEN)

1 scan

 Execution When Canceled

OW08 = 7 (FEED)
OW09 Bit 1 (ABORT)
IW08 = 7 (FEED)
IW09 Bit 0 (BUSY)
IW09 Bit 3 (FAIL)
IW09 Bit 8 (COMPLETE)
IW0C Bit 0 (DEN)

1 scan

 Execution When an Alarm Occurs

Motion Commands
OW08 = 7 (FEED)
IW08 = 7 (FEED)
IW09 Bit 0 (BUSY)
IW09 Bit 3 (FAIL)
IW09 Bit 8 (COMPLETE) 6
IW0C Bit 0 (DEN)

1 scan
Alarms

6-55
 6.2 Motion Command Details
STEP (STEP Operation)

STEP (STEP Operation)

The STEP command performs positioning for the specified travel distance based on the specified travel
direction, travel distance, and travel speed.

Execution and Operating Procedures

1. Make sure that all of the following conditions are met.
No. Execution Condition Confirmation Method
1 There must be no alarms. Both IL02 and IL04 must be 0.
2 The Servomotor’s power must be ON. Bit 1 in IW00 must be 1.
IW08 must be 0 and bit 0 in
3 Motion command execution must be completed.
IW09 must be 0.

2. Set the following setting parameters.

• OW01 (Speed Loop P/PI Switch)
• OW03, Bits 8 to B (Filter Type Selection)
• OW09, Bit 2 (Travel Direction for JOG/STEP)
• OL10 (Speed Reference Setting)
• OW12 (Speed Limit)
• OL14 (Torque/Force Limit)
• OL36 (Linear Acceleration Rate/Acceleration Time Constant)
• OL38 (Linear Deceleration Rate/Deceleration Time Constant)
• OL44 (STEP Travel Distance)

Information • OL10 can be changed during motion.

• An override of between 0% and 327.67% can be set for OL10.
• OL14 can be changed at any time. The intended operation may not be achieved if the
set value is too small.
• If OL36 and OL38 are changed during operation, the specifications of the
SERVOPACK determine whether these changes are applied to acceleration and decelera-
tion.

3. Set the OW08 setting parameter (Motion Commands) to 8 to execute the STEP motion
command.
The STEP operation starts. During the jogging operation, the IW08 monitor parameter (Motion
Command Response Code) is 8.
When the target near position is reached, bit 3 (Near Position) in the IW0C monitor parameter will
change to 1 (Within near position range).
Then, when the target position is reached, bit 1 in the IW0C monitor parameter will change to 1
(Within positioning completed range) and positioning will end.

4. Set OW08 to 0 to execute the NOP motion command.

This concludes the STEP operation.

6-56
 6.2 Motion Command Details
STEP (STEP Operation)

Operating Patterns
The following figure shows the operating pattern when the STEP command is executed.
STEP Operating Pattern
Speed (%)
Rated speed
(100%)

Feed Speed

STEP Travel
Distance
0
Time (t)
Linear Acceleration Linear Deceleration
Time Constant Time Constant
(OL36) (OL38)

Holding
• To hold an axis in place during motion and resume operation at a later time, set bit 0 (Hold Command) in
the OW09 setting parameter to 1 (Hold Command ON).
When bit 0 in OW09 is set to 1, the axis will decelerate to a stop.
The deceleration operation depends on the setting of bits 8 to F (Stop Mode Selection) in the
OW02 setting parameter.
When the axis completely decelerates to a stop, bit 1 (Command Hold Completed) in the IW09
monitor parameter will change to 1 (Completed).
• To release the hold, set bit 0 (Hold Command) in OW09 to 0 (Hold Command OFF).
This clears the command hold status and the remaining portion of the positioning operation is restarted.

Canceling
• To stop an axis during motion and cancel the remaining motion, set bit 1 (Cancel Command) in the
OW09 setting parameter to 1 (Cancel Command ON).
When bit 1 in OW09 is set to 1, the axis will decelerate to a stop.
The deceleration operation depends on the setting of bits 8 to F (Stop Mode Selection) in the

Motion Commands
OW02 setting parameter.
When the axis completely decelerates to a stop, the remaining motion will be canceled and bit 1 (Posi-
tioning Completed) in the IW0C monitor parameter will change to 1 (Within positioning com-
pleted range).
• The same operation as the Cancel Command operation will be performed if the motion command code
is changed during axis motion.

6-57
 6.2 Motion Command Details
STEP (STEP Operation)

Related Parameters

 Setting Parameters
Register
Name Setting Details
Address
Use this bit to turn the power to the Servomotor ON or OFF.
OW00
Servo ON Set this parameter to 1 before setting OW08 to 8 (STEP).
Bit 0
0: Servo OFF, 1: Servo ON
Use this bit to change the speed control loop between PI control and P
OW01
Speed Loop P/PI Switch control.
Bit 3
0: PI control, 1: P control
These bits select the stop method to use when a command is canceled.
OW02 0: Stop according to the Linear Deceleration Rate/Deceleration Time
Stop Mode Selection
Bits 8 to F Constant parameter
1: Stop immediately
OW03 Function Settings 1 Select the speed unit, acceleration/deceleration unit, and filter type.
The STEP operation is started when this parameter is set to 8 (STEP).
OW08 Motion Commands Set this parameter to 0 (NOP) during a STEP operation to cancel the
STEP operation.
When this bit is set to 1 (ON) during a STEP operation, the axis will
OW09 decelerate to a stop.
Hold Command
Bit 0 The STEP operation is resumed if this bit is set to 0 (OFF) when the
axis is being held.
If this bit is set to 1 (ON) during positioning, the axis will decelerate to
OW09 a stop.
Cancel Command
Bit 1 If this bit is set to 0 (OFF) after decelerating to a stop, the operation
will depend on the setting of bit 5 in OW09.
OW09 Travel Direction for Set the travel direction for the STEP operation.
Bit 2 JOG/STEP 0: Forward, 1: Reverse
Specify the positioning speed. This parameter can be changed during
OL10 Speed Reference Setting operation.
The unit depends on the set value of bits 0 to 3 in OW03.
Set the upper speed limit as a percentage of the rated speed. This value
OW12 Speed Limit is an absolute value. It is used in both the positive and negative direc-
tions.
OL14 Torque/Force Limit Set the torque limit for interpolation positioning.
This parameter allows the positioning speed to be changed without
changing the value of OL10.
Set the value as a percentage of the Speed Reference Setting. This
OW18 Override parameter can be changed during operation.
Setting range: 0 to 32,767 (0% to 327.67%)
Setting unit: 1 = 0.01%
Example: Setting for 50% = 5,000
Positioning Completion Set this parameter to the value for which bit 1 in IW0C will
OL1E
Width change to 1 (Within positioning completed range).
Set this parameter to the value for which bit 3 in IW0C will
NEAR Signal Output change to 1 (Within near position range). Bit 3 changes to 1 when the
OL20
Width absolute value of the difference between the reference position and the
feedback position is within the range that is specified here.
Linear Acceleration
Set the positioning acceleration rate with the acceleration rate or the
OL36 Rate/Acceleration Time
acceleration time.
Constant
Continued on next page.

6-58
 6.2 Motion Command Details
STEP (STEP Operation)

Continued from previous page.

Register
Name Setting Details
Address
Linear Deceleration
Set the positioning deceleration rate with the deceleration rate or the
OL38 Rate/Deceleration Time
deceleration time.
Constant
Set the acceleration/deceleration filter time constant. Exponential
acceleration/deceleration or a moving average filter can be selected in
OW3A Filter Time Constant bits 8 to B in OW03.
This setting can be changed only when reference pulse distribution has
been completed (i.e., when bit 0 in IW0C is 1).
OL44 STEP Travel Distance Set the travel distance for the STEP operation.

 Monitor Parameters
Register
Name Monitored Contents
Address
IW00 Running with Servo This bit shows the Servo status for the axis.
Bit 1 ON 0: Stopped, 1: Running with Servo ON
IL02 Warnings This parameter reports the current warning status.
IL04 Alarms This parameter reports the current alarm status.
Motion Command This parameter shows the motion command currently in execution.
IW08
Response Code This parameter is 8 during execution of the STEP command.
IW09 Command Execution This bit is 1 (Processing) during execution of the STEP command. The bit
Bit 0 Flag changes to 0 (Completed) when execution ends.
This bit changes to 1 (Completed) when IW08 is 8 (execution of the
IW09 Command Hold
STEP command is in progress), bit 1 (Hold Command) in OW09 is
Bit 1 Completed
1, and the axis completely decelerates to a stop.
This bit changes to 1 (Completed with an error) when an error occurs
IW09 during execution of the STEP command.
Command Error End
Bit 3 The axis will decelerate to a stop if it is moving. This bit changes to 0
(Completed normally) when another command is executed.
IW09 Command Execution This bit changes to 1 (Normal execution completed) when execution of the
Bit 8 Completed STEP command ends.
This bit changes to 1 (Distribution completed) when the distribution of ref-

Motion Commands
IW0C Distribution Com- erence pulses for the movement motion command is completed.
Bit 0 pleted This bit is 0 (Distributing pulses) when the execution of a movement
motion command is in progress.
This bit is 1 (Within positioning completed range) when pulse distribution
IW0C Positioning Com- is completed and the current position is within the positioning completed
Bit 1 pleted range. This bit is 0 (Outside positioning completed range) in all other
cases.
The operation of this bit depends on the set value of OL20.
6
If OL20 is 0, this bit is 1 (Within near position range) when refer-
ence pulse distribution is completed (i.e., when DEN is 1), and it is 0 (Out-
side near position range) when reference pulse distribution is not
completed.
IW0C When OL20 is not 0, this bit is 1 when within the range of the fol-
Near Position
Bit 3 lowing formula, regardless of the state of reference pulse distribution, and
0 in all other cases.
| (IL12) − (IL16) | ≤ OL20
IL12: Machine Coordinate System Reference Position
IL16: Machine Coordinate System Feedback Position
OL20: NEAR Signal Output Width

6-59
 6.2 Motion Command Details
STEP (STEP Operation)

Timing Charts

 Normal Execution

OW08 = 8 (STEP)
IW08 = 8 (STEP)
IW09 Bit 0 (BUSY)
IW09 Bit 3 (FAIL)
IW09 Bit 8 (COMPLETE)
IW0C Bit 0 (DEN)
IW0C Bit 1 (POSCOMP)

1 scan This interval is not constant.

 Execution When Canceled

OW08 = 8 (STEP)
OW09 Bit 1 (ABORT)
IW08 = 8 (STEP)
IW09 Bit 0 (BUSY)
IW09 Bit 3 (FAIL)
IW09 Bit 8 (COMPLETE)
IW0C Bit 0 (DEN)
IW0C Bit 1 (POSCOMP)

1 scan This interval is not constant.

 Execution When Command Is Changed

OW08 = 8 (STEP)
IW08 = 8 (STEP)
IW09 Bit 0 (BUSY)
IW09 Bit 3 (FAIL)
IW09 Bit 8 (COMPLETE)
IW0C Bit 0 (DEN)
IW0C Bit 1 (POSCOMP)

1 scan This interval is not constant.

6-60
 6.2 Motion Command Details
STEP (STEP Operation)

 Execution When an Alarm Occurs

OW08 = 8 (STEP)
IW08 = 8 (STEP)
IW09 Bit 0 (BUSY)
IW09 Bit 3 (FAIL)
IW09 Bit 8 (COMPLETE)
IW0C Bit 0 (DEN)
IW0C Bit 1 (POSCOMP)

1 scan This interval is not constant.

Alarms

Motion Commands

6-61
 6.2 Motion Command Details
ZSET (Set Zero Point)

ZSET (Set Zero Point)

Execute the ZSET command to set the zero point in the machine coordinate system. This enables the zero
point to be set without performing a zero point return operation.

When using software limits, always execute the set zero point or zero point return operation. Software
limits are enabled after the set zero point operation ends.
Note

Execution and Operating Procedures

1. Make sure that all of the following conditions are met.
No. Execution Condition Confirmation Method
1 There must be no alarms. Both IL02 and IL04 must be 0.
IW08 must be 0 and bit 0 in
2 Motion command execution must be completed.
IW09 must be 0.

2. Set the OW08 setting parameter (Motion Commands) to 9 to execute the ZSET motion
command.
A new machine coordinate system is established with the current position as the zero point.
During the set zero point operation, the IW08 monitor parameter (Motion Command Response
Code) is 9.
When the set zero point operation is completed, bit 5 (Zero Point Return/Setting Completed) in the
IW0C monitor parameter will change to 1 (Zero point return/setting completed).
The position information when the set zero point operation is completed will depend on the axis setting, as
shown in the following table.
Position Information When the Set Zero Point
Axis Setting
Operation Is Completed
Finite-length or infinite-length axis with an incre- The position information is initialized with the zero
mental encoder point offset in the machine coordinate system.
Finite-length axis with an absolute encoder The position information is unchanged.
Infinite-length axis with an absolute encoder The position information is unchanged.
The position information is initialized with the zero
Infinite-length axis with an absolute encoder
point offset in the machine coordinate system.

3. Set OW08 to 0 to execute the NOP motion command.

This concludes the set zero point operation.

Holding and Canceling Commands

Bit 0 (Hold Command) and bit 1 (Cancel Command) in the OW09 setting parameter cannot be used
to stop the axis.

6-62
 6.2 Motion Command Details
ZSET (Set Zero Point)

Related Parameters

 Setting Parameters
Register
Name Setting Details
Address
OW08 Motion Commands The set zero point operation starts when this parameter is set to 9 (ZSET).
OW09
Hold Command This bit is ignored for the ZSET command.
Bit 0
OW09
Cancel Command This bit is ignored for the ZSET command.
Bit 1
Zero Point Position
Set the position offset from the zero point in the machine coordinate system
OL48 Offset in Machine
after the set zero point operation has been completed.
Coordinate System

 Monitor Parameters
Register
Name Monitored Contents
Address
IL02 Warnings This parameter reports the current warning status.
IL04 Alarms This parameter reports the current alarm status.
Motion Command This parameter shows the motion command currently in execution.
IW08
Response Code This parameter is 9 during execution of the ZSET command.
IW09 Command Execution This bit is 1 (Processing) during execution of the ZSET command. The bit
Bit 0 Flag changes to 0 (Completed) when execution ends.
IW09 Command Hold This bit is always 0 (Command hold not completed) for the ZSET com-
Bit 1 Completed mand.
This bit changes to 1 (Completed with an error) when an error occurs
IW09 during execution of the ZSET command.
Command Error End
Bit 3 The axis will decelerate to a stop if it is moving. This bit changes to 0
(Completed normally) when another command is executed.
IW09 Command Execution This bit changes to 1 (Normal execution completed) when execution of the
Bit 8 Completed ZSET command ends.
IW0C Zero Point Return/ This bit changes to 1 (Zero point return/setting completed) when the set
Bit 5 Setting Completed zero point operation is completed.

Motion Commands
Timing Charts
OW08 = 9 (ZSET)
IW08 = 9 (ZSET)
IW09 Bit 0 (BUSY)
IW09 Bit 3 (FAIL) 6
IW09 Bit 8 (COMPLETE)
IW0C Bit 5 (ZRNC)

6-63
 6.2 Motion Command Details
ACC (Change Acceleration Time)

ACC (Change Acceleration Time)

Set the OL36 setting parameter (Linear Acceleration Rate/Acceleration Time Constant) to change
the linear acceleration time constant. This command is not required when the SVC or SVC32 Function
Module is used.

Information • When this command is executed, bit 0 (Command Execution Flag) in the IW09 monitor
parameter will not change to 1 (Processing).
• The set value for the OL36 setting parameter (Linear Acceleration Rate/Acceleration
Time Constant) is issued to the SERVOPACK as soon as a movement motion command is exe-
cuted.

This command is not required when the SVC or SVC32 Function Module is used, but it can still be set.
Setting this command will not cause an error. The parameter settings that you have used until now can
Note still be used with the SVC or SVC32 Function Module, including the settings for this command.

Execution and Operating Procedures

1. Make sure that all of the following conditions are met.
No. Execution Condition Confirmation Method
1 There must be no alarms. Both IL02 and IL04 must be 0.
Pulse distribution has been completed for the SER-
2 Bit 1 in IW00 must be 1.
VOPACK.
IW08 must be 0 and bit 0 in
3 Motion command execution must be completed.
IW09 must be 0.

2. Set the OW08 setting parameter (Motion Commands) to 10 to execute the ACC motion
command.
The IW08 monitor parameter (Motion Command Response Code) is 10 during execution of this
command.
Bit 8 (Command Execution Completed) in the IW09 monitor parameter changes to 1 (Normal execu-
tion completed) when IW08 changes to 10.

3. Set OW08 to 0 to execute the NOP motion command.

This concludes the process for changing the linear acceleration time constant.

Holding and Canceling Commands

Bit 0 (Hold Command) and bit 1 (Cancel Command) in the OW09 setting parameter cannot be used
to stop the axis.

6-64
 6.2 Motion Command Details
ACC (Change Acceleration Time)

Related Parameters

 Setting Parameters
Register
Name Setting Details
Address
Set this parameter to 10 (ACC) to change the linear acceleration time con-
OW08 Motion Commands
stant.
OW09
Hold Command This bit is ignored for the ACC command.
Bit 0
OW09
Cancel Command This bit is ignored for the ACC command.
Bit 1

 Monitor Parameters
Register
Name Monitored Contents
Address
IL02 Warnings This parameter reports the current warning status.
IL04 Alarms This parameter reports the current alarm status.
Motion Command This parameter shows the motion command currently in execution.
IW08
Response Code This parameter is 10 during execution of the ACC command.
IW09 Command Execu-
This bit is always 0 (Completed) for the ACC command.
Bit 0 tion Flag
IW09 Command Hold
This bit is always 0 (Command hold not completed) for the ACC command.
Bit 1 Completed
IW09
Command Error End This bit is always 0 (Completed normally) for the ACC command.
Bit 3
IW09 Command Execu- This bit changes to 1 (Normal execution completed) when execution of the
Bit 8 tion Completed ACC command ends.

Timing Charts
OW08 = 10 (ACC)
IW08 = 10 (ACC)

Motion Commands
IW09 Bit 0 (BUSY)
IW09 Bit 3 (FAIL)
IW09 Bit 8 (COMPLETE)

6-65
 6.2 Motion Command Details
DCC (Change Deceleration Time)

DCC (Change Deceleration Time)

Set the OL38 setting parameter (Linear Deceleration Rate/Deceleration Time Constant) to change
the linear deceleration time constant. This command is not required when the SVC or SVC32 Function
Module is used.

Information • When this command is executed, bit 0 (Command Execution Flag) in the IW09 monitor
parameter will not change to 1 (Processing).
• The set value for the OL36 setting parameter (Linear Acceleration Rate/Acceleration
Time Constant) is issued to the SERVOPACK as soon as a movement motion command is exe-
cuted.

This command is not required when the SVC or SVC32 Function Module is used, but it can still be set.
Setting this command will not cause an error. The parameter settings that you have used until now can
Note still be used with the SVC or SVC32 Function Module, including the settings for this command.

Execution and Operating Procedures

1. Make sure that all of the following conditions are met.
No. Execution Condition Confirmation Method
1 There must be no alarms. Both IL02 and IL04 must be 0.
Pulse distribution has been completed for the SER-
2 Bit 1 in IW00 must be 1.
VOPACK.
IW08 must be 0 and bit 0 in
3 Motion command execution must be completed.
IW09 must be 0.

2. Set the OW08 setting parameter (Motion Commands) to 11 to execute the DCC motion
command.
The IW08 monitor parameter (Motion Command Response Code) is 11 during execution of this
command.
Bit 8 (Command Execution Completed) in the IW09 monitor parameter changes to 1 (Normal execu-
tion completed) when IW08 changes to 11.

3. Set OW08 to 0 to execute the NOP motion command.

This concludes the process for changing the linear deceleration time constant.

Holding and Canceling Commands

Bit 0 (Hold Command) and bit 1 (Cancel Command) in the OW09 setting parameter cannot be used
to stop the axis.

6-66
 6.2 Motion Command Details
DCC (Change Deceleration Time)

Related Parameters

 Setting Parameters
Register
Name Setting Details
Address
Set this parameter to 11 (DCC) to change the linear deceleration time
OW08 Motion Commands
constant.
OW09
Hold Command This bit is ignored for the DCC command.
Bit 0
OW09
Cancel Command This bit is ignored for the DCC command.
Bit 1

 Monitor Parameters
Register
Name Monitored Contents
Address
IL02 Warnings This parameter reports the current warning status.
IL04 Alarms This parameter reports the current alarm status.
Motion Command This parameter shows the motion command currently in execution.
IW08
Response Code This parameter is 11 during execution of the DCC command.
IW09 Command Execution
This bit is always 0 (Completed) for the DCC command.
Bit 0 Flag
IW09 Command Hold Com- This bit is always 0 (Command hold not completed) for the DCC com-
Bit 1 pleted mand.
IW09
Command Error End This bit is always 0 (Completed normally) for the DCC command.
Bit 3
IW09 Command Execution This bit changes to 1 (Normal execution completed) when execution of
Bit 8 Completed the DCC command ends.

Timing Charts
OW08 = 11 (DCC)
IW08 = 11 (DCC)

Motion Commands
IW09 Bit 0 (BUSY)
IW09 Bit 3 (FAIL)
IW09 Bit 8 (COMPLETE)

6-67
 6.2 Motion Command Details
SCC (Change Filter Time Constant)

SCC (Change Filter Time Constant)

The SCC command transfers the set value of the OW3A setting parameter (Filter Time Constant) to
the Moving Average Time or Exponential Acceleration/Deceleration Time Constant SERVOPACK
parameter and enables the setting.

The SVC or SVC32 Function Module can automatically transfer setting parameters to SERVOPACK
parameters when they are overwritten. The SCC command is not required if this function is used. Refer
to the following section for details.
Note
4.4 Motion Parameter Details −  No. 1: Function Selection Flags 1 −  Bit A: SERVOPACK Parameter
Auto-Write (page 4-33)

Execution and Operating Procedures

1. Make sure that all of the following conditions are met.
No. Execution Condition Confirmation Method
1 There must be no alarms. Both IL02 and IL04 must be 0.
Pulse distribution has been completed for the SER-
2 Bit 1 in IW00 must be 1.
VOPACK.
IW08 must be 0 and bit 0 in
3 Motion command execution must be completed.
IW09 must be 0.

2. Set the OW08 setting parameter (Motion Commands) to 12 to execute the SCC motion
command.
The parameter to which the value of OW3A is transferred will depend on the filter type that has been
set.
No filter or moving average filter: Moving Average Time
Exponential acceleration/deceleration filter: Exponential Acceleration/Deceleration Time Constant
The IW08 monitor parameter (Motion Command Response Code) is 12 during execution of this
command.
During command processing, bit 0 (Command Execution Flag) in the IW09 monitor parameter will
change to 1 (Processing). When processing is completed, this bit will change to 0 (Completed).

3. Set OW08 to 0 to execute the NOP motion command.

This concludes the process for changing the filter time constant.

Holding and Canceling Commands

Bit 0 (Hold Command) and bit 1 (Cancel Command) in the OW09 setting parameter cannot be used
to stop the axis.

6-68
 6.2 Motion Command Details
SCC (Change Filter Time Constant)

Related Parameters

 Setting Parameters
Register
Name Setting Details
Address
OW03 Function Settings 1 Select the speed unit, acceleration/deceleration unit, and filter type.
OW08 Motion Commands Set this parameter to 12 (SCC) to change the filter time constant.
OW09
Hold Command This bit is ignored for the SCC command.
Bit 0
OW09
Cancel Command This bit is ignored for the SCC command.
Bit 1
OW3A Filter Time Constant Set the acceleration/deceleration filter time constant.

 Monitor Parameters
Register
Name Monitored Contents
Address
IL02 Warnings This parameter reports the current warning status.
IL04 Alarms This parameter reports the current alarm status.
Motion Command This parameter shows the motion command currently in execution.
IW08
Response Code This parameter is 12 during execution of the SCC command.
IW09 Command Execu- This bit is 1 (Processing) during execution of the SCC command. The bit
Bit 0 tion Flag changes to 0 (Completed) when execution ends.
IW09 Command Hold
This bit is always 0 (Command hold not completed) for the SCC command.
Bit 1 Completed
This bit changes to 1 (Completed with an error) when an error occurs during
IW09 execution of the SCC command.
Command Error End
Bit 3 The axis will decelerate to a stop if it is moving. This bit changes to 0 (Com-
pleted normally) when another command is executed.
IW09 Command Execu- This bit changes to 1 (Normal execution completed) when execution of the
Bit 8 tion Completed SCC command ends.

Timing Charts

Motion Commands
 Normal Completion
OW08 = 12 (SCC)
IW08 = 12 (SCC)
IW09 Bit 0 (BUSY) This interval is
IW09 Bit 3 (FAIL) not constant. 6
IW09 Bit 8 (COMPLETE)

 Error Completion
OW08 = 12 (SCC)
IW08 = 12 (SCC)
IW09 Bit 0 (BUSY) This interval is
IW09 Bit 3 (FAIL) not constant.
IW09 Bit 8 (COMPLETE)

6-69
 6.2 Motion Command Details
CHG_FILTER (Change Filter Type)

CHG_FILTER (Change Filter Type)

This command enables the set value of bits 8 to B (Filter Type Selection) in the OW03 setting
parameter.

When bit A (SERVOPACK Parameter Auto-Write) in fixed parameter No. 1 is 0 (Enabled), the filter
type is changed when reference pulse distribution is completed, even if this command is not executed.
Note

Execution and Operating Procedures

1. Make sure that all of the following conditions are met.
No. Execution Condition Confirmation Method
1 There must be no alarms. Both IL02 and IL04 must be 0.
Pulse distribution has been completed for the SER-
2 Bit 1 in IW00 must be 1.
VOPACK.
IW08 must be 0 and bit 0 in
3 Motion command execution must be completed.
IW09 must be 0.

2. Set the OW08 setting parameter (Motion Commands) to 13 to execute the CHG_FILTER
motion command.
The value of bits 8 to B in OW03 is enabled.
The IW08 monitor parameter changes to 13 during execution of the command.
During command processing, bit 0 (Command Execution Flag) in the IW09 monitor parameter will
change to 1 (Processing). When processing is completed, this bit will change to 0 (Completed).

3. Set OW08 to 0 to execute the NOP motion command.

This concludes the process for changing the filter type.

Holding and Canceling Commands

Bit 0 (Hold Command) and bit 1 (Cancel Command) in the OW09 setting parameter cannot be used
to stop the axis.

Related Parameters

 Setting Parameters
Register
Name Setting Details
Address
OW03 Function Settings 1 Select the speed unit, acceleration/deceleration unit, and filter type.
OW08 Motion Commands Set this parameter to 13 (CHG_FILTER) to change the filter type.
OW09
Hold Command This bit is ignored for the CHG_FILTER command.
Bit 0
OW09
Cancel Command This bit is ignored for the CHG_FILTER command.
Bit 1

6-70
 6.2 Motion Command Details
CHG_FILTER (Change Filter Type)

 Monitor Parameters
Register
Name Monitored Contents
Address
IL02 Warnings This parameter reports the current warning status.
IL04 Alarms This parameter reports the current alarm status.
Motion Command This parameter shows the motion command currently in execution.
IW08
Response Code This parameter is 13 during execution of the CHG_FILTER command.
IW09 Command Execu- This bit is 1 (Processing) during execution of the CHG_FILTER command.
Bit 0 tion Flag The bit changes to 0 (Completed) when execution ends.
IW09 Command Hold This bit is always 0 (Command hold not completed) for the CHG_FILTER
Bit 1 Completed command.
This bit changes to 1 (Completed with an error) when an error occurs
IW09 during execution of the CHG_FILTER command.
Command Error End
Bit 3 The axis will decelerate to a stop if it is moving. This bit changes to 0
(Completed normally) when another command is executed.
IW09 Command Execu- This bit changes to 1 (Normal execution completed) when execution of the
Bit 8 tion Completed CHG_FILTER command ends.

Timing Charts

 Normal Completion
OW08 = 13 (CHG_FILTER)
IW08 = 13 (CHG_FILTER)
IW09 Bit 0 (BUSY)
IW09 Bit 3 (FAIL)
IW09 Bit 8 (COMPLETE)

1 scan

 Error Completion
OW08 = 13 (CHG_FILTER)

Motion Commands
IW08 = 13 (CHG_FILTER)
IW09 Bit 0 (BUSY)
IW09 Bit 3 (FAIL)
IW09 Bit 8 (COMPLETE)

6-71
 6.2 Motion Command Details
KVS (Change Speed Loop Gain)

KVS (Change Speed Loop Gain)

The KVS command transfers the set value of the OW2F setting parameter (Speed Loop Gain) to the
Speed Loop Gain SERVOPACK parameter and enables the setting.

The SVC or SVC32 Function Module can automatically transfer setting parameters to SERVOPACK
parameters when they are overwritten. The KVS command is not required if this function is used.
Refer to the following section for details.
Note
4.4 Motion Parameter Details −  No. 1: Function Selection Flags 1 −  Bit A: SERVOPACK Parameter
Auto-Write (page 4-33)

Execution and Operating Procedures

1. Make sure that all of the following conditions are met.
No. Execution Condition Confirmation Method
1 There must be no alarms. Both IL02 and IL04 must be 0.
IW08 must be 0 and bit 0 in
2 Motion command execution must be completed.
IW09 must be 0.

2. Set the OW08 setting parameter (Motion Commands) to 14 to execute the KVS motion
command.
The value of OW2F is transferred to the Speed Loop Gain parameter of the SERVOPACK and is
enabled.
The IW08 monitor parameter (Motion Command Response Code) is 14 during execution of this
command.
During command processing, bit 0 (Command Execution Flag) in the IW09 monitor parameter will
change to 1 (Processing). When processing is completed, this bit will change to 0 (Completed).

3. Set OW08 to 0 to execute the NOP motion command.

This concludes the process for changing the speed loop gain.

Holding and Canceling Commands

Bit 0 (Hold Command) and bit 1 (Cancel Command) in the OW09 setting parameter cannot be used
to stop the axis.

Related Parameters

 Setting Parameters
Register
Name Setting Details
Address
OW08 Motion Commands Set this parameter to 14 (KVS) to change the speed loop gain.
OW09
Hold Command This bit is ignored for the KVS command.
Bit 0
OW09
Cancel Command This bit is ignored for the KVS command.
Bit 1
OW2F Speed Loop Gain Set the speed control loop gain for the SERVOPACK.

6-72
 6.2 Motion Command Details
KVS (Change Speed Loop Gain)

 Monitor Parameters
Register
Name Monitored Contents
Address
IL02 Warnings This parameter reports the current warning status.
IL04 Alarms This parameter reports the current alarm status.
Motion Command This parameter shows the motion command currently in execution.
IW08
Response Code This parameter is 14 during execution of the KVS command.
IW09 Command Execu- This bit is 1 (Processing) during execution of the KVS command. The bit
Bit 0 tion Flag changes to 0 (Completed) when execution ends.
IW09 Command Hold
This bit is always 0 (Command hold not completed) for the KVS command.
Bit 1 Completed
This bit changes to 1 (Completed with an error) when an error occurs during
IW09 execution of the KVS command.
Command Error End
Bit 3 The axis will decelerate to a stop if it is moving. This bit changes to 0 (Com-
pleted normally) when another command is executed.
IW09 Command Execu- This bit changes to 1 (Normal execution completed) when execution of the
Bit 8 tion Completed KVS command ends.

Timing Charts

 Normal Completion
OW08 = 14 (KVS)
IW08 = 14 (KVS)
IW09 Bit 0 (BUSY) This interval is
IW09 Bit 3 (FAIL) not constant.
IW09 Bit 8 (COMPLETE)

 Error Completion
OW08 = 14 (KVS)
IW08 = 14 (KVS)

Motion Commands
IW09 Bit 0 (BUSY) This interval is
IW09 Bit 3 (FAIL) not constant.
IW09 Bit 8 (COMPLETE)

6-73
 6.2 Motion Command Details
KPS (Change Position Loop Gain)

KPS (Change Position Loop Gain)

The KPS command transfers the set value of the OW2E setting parameter (Position Loop Gain) to
the Position Loop Gain SERVOPACK parameter and enables the setting.

The SVC or SVC32 Function Module can automatically transfer setting parameters to SERVOPACK
parameters when they are overwritten. The KPS command is not required if this function is used. Refer
to the following section for details.
Note
4.4 Motion Parameter Details −  No. 1: Function Selection Flags 1 −  Bit A: SERVOPACK Parameter
Auto-Write (page 4-33)

Execution and Operating Procedures

1. Make sure that all of the following conditions are met.
No. Execution Condition Confirmation Method
1 There must be no alarms. Both IL02 and IL04 must be 0.
IW08 must be 0 and bit 0 in
2 Motion command execution must be completed.
IW09 must be 0.

2. Set the OW08 setting parameter (Motion Commands) to 15 to execute the KPS motion
command.
The value of OW2E is transferred to the Position Loop Gain parameter of the SERVOPACK and is
enabled.
The IW08 monitor parameter (Motion Command Response Code) is 15 during execution of this
command.
During command processing, bit 0 (Command Execution Flag) in the IW09 monitor parameter will
change to 1 (Processing). When processing is completed, this bit will change to 0 (Completed).

3. Set OW08 to 0 to execute the NOP motion command.

This concludes the process for changing the position loop gain.

Holding and Canceling Commands

Bit 0 (Hold Command) and bit 1 (Cancel Command) in the OW09 setting parameter cannot be used
to stop the axis.

Related Parameters

 Setting Parameters
Register
Name Setting Details
Address
OW08 Motion Commands Set this parameter to 15 (KPS) to change the position loop gain.
OW09
Hold Command This bit is ignored for the KPS command.
Bit 0
OW09
Cancel Command This bit is ignored for the KPS command.
Bit 1
OW2E Position Loop Gain Set the position control loop gain for the SERVOPACK.

6-74
 6.2 Motion Command Details
KPS (Change Position Loop Gain)

 Monitor Parameters
Register
Name Monitored Contents
Address
IL02 Warnings This parameter reports the current warning status.
IL04 Alarms This parameter reports the current alarm status.
Motion Command This parameter shows the motion command currently in execution.
IW08
Response Code This parameter is 15 during execution of the KPS command.
IW09 Command Execu- This bit is 1 (Processing) during execution of the KPS command. The bit
Bit 0 tion Flag changes to 0 (Completed) when execution ends.
IW09 Command Hold
This bit is always 0 (Command hold not completed) for the KPS command.
Bit 1 Completed
This bit changes to 1 (Completed with an error) when an error occurs during
IW09 execution of the KPS command.
Command Error End
Bit 3 The axis will decelerate to a stop if it is moving. This bit changes to 0 (Com-
pleted normally) when another command is executed.
IW09 Command Execu- This bit changes to 1 (Normal execution completed) when execution of the
Bit 8 tion Completed KPS command ends.

Timing Charts

 Normal Completion
OW08 = 15 (KPS)
IW08 = 15 (KPS)
IW09 Bit 0 (BUSY) This interval is
IW09 Bit 3 (FAIL) not constant.
IW09 Bit 8 (COMPLETE)

 Error Completion
OW08 = 15 (KPS)
IW08 = 15 (KPS)

Motion Commands
IW09 Bit 0 (BUSY) This interval is
IW09 Bit 3 (FAIL) not constant.
IW09 Bit 8 (COMPLETE)

6-75
 6.2 Motion Command Details
KFS (Change Feedforward)

KFS (Change Feedforward)

The KFS command transfers the set value of the OW30 setting parameter (Speed Feedforward
Compensation) to the Feedforward SERVOPACK parameter and enables the setting.

The SVC or SVC32 Function Module can automatically transfer setting parameters to SERVOPACK
parameters when they are overwritten. The KFS command is not required if this function is used. Refer
to the following section for details.
Note
4.4 Motion Parameter Details −  No. 1: Function Selection Flags 1 −  Bit A: SERVOPACK Parameter
Auto-Write (page 4-33)

Execution and Operating Procedures

1. Make sure that all of the following conditions are met.
No. Execution Condition Confirmation Method
1 There must be no alarms. Both IL02 and IL04 must be 0.
IW08 must be 0 and bit 0 in
2 Motion command execution must be completed.
IW09 must be 0.

2. Set the OW08 setting parameter (Motion Commands) to 16 to execute the KFS motion
command.
The value of OW30 is transferred to the Feedforward parameter of the SERVOPACK and is enabled.
The IW08 monitor parameter (Motion Command Response Code) is 16 during execution of this
command.
During command processing, bit 0 (Command Execution Flag) in the IW09 monitor parameter will
change to 1 (Processing). When processing is completed, this bit will change to 0 (Completed).

3. Set OW08 to 0 to execute the NOP motion command.

This concludes the process for changing the feedforward compensation.

Holding and Canceling Commands

Bit 0 (Hold Command) and bit 1 (Cancel Command) in the OW09 setting parameter cannot be used
to stop the axis.

Related Parameters

 Setting Parameters
Register
Name Setting Details
Address
OW08 Motion Commands Set this parameter to 16 (KFS) to change the feedforward compensation.
OW09
Hold Command This bit is ignored for the KFS command.
Bit 0
OW09
Cancel Command This bit is ignored for the KFS command.
Bit 1
Speed Feedforward
OW30 Set the feedforward amount for the SERVOPACK as a percentage.
Compensation

6-76
 6.2 Motion Command Details
KFS (Change Feedforward)

 Monitor Parameters
Register
Name Monitored Contents
Address
IL02 Warnings This parameter reports the current warning status.
IL04 Alarms This parameter reports the current alarm status.
Motion Command This parameter shows the motion command currently in execution.
IW08
Response Code This parameter is 16 during execution of the KFS command.
IW09 Command Execu- This bit is 1 (Processing) during execution of the KFS command. The bit
Bit 0 tion Flag changes to 0 (Completed) when execution ends.
IW09 Command Hold
This bit is always 0 (Command hold not completed) for the KFS command.
Bit 1 Completed
This bit changes to 1 (Completed with an error) when an error occurs during
IW09 execution of the KFS command.
Command Error End
Bit 3 The axis will decelerate to a stop if it is moving. This bit changes to 0 (Com-
pleted normally) when another command is executed.
IW09 Command Execu- This bit changes to 1 (Normal execution completed) when execution of the
Bit 8 tion Completed KFS command ends.

Timing Charts

 Normal Completion
OW08 = 16 (KFS)
IW08 = 16 (KFS)
IW09 Bit 0 (BUSY) This interval is
IW09 Bit 3 (FAIL) not constant.
IW09 Bit 8 (COMPLETE)

 Error Completion
OW08 = 16 (KFS)
IW08 = 16 (KFS)

Motion Commands
IW09 Bit 0 (BUSY) This interval is
IW09 Bit 3 (FAIL) not constant.
IW09 Bit 8 (COMPLETE)

6-77
 6.2 Motion Command Details
PRM_RD (Read SERVOPACK Parameter)

PRM_RD (Read SERVOPACK Parameter)

The PRM_RD command reads the set value of the SERVOPACK parameter that corresponds to the speci-
fied parameter number and parameter size. The read value is then stored in the IW36 (SERVO-
PACK Parameter Number) and IL38 (SERVOPACK Parameter Read Data) monitor parameters.
Two types of SERVOPACK parameters can be read with this command: vendor-specific parameters,
which are vendor-specific specifications for the particular Servo product used, and Servo common param-
eters, which are defined in the MECHATROLINK-III communications specifications. Set bit 8 (SERVO-
PACK Parameter Access Selection) in the OW09 setting parameter to select which type of
SERVOPACK parameter to read.

Execution and Operating Procedures

1. Make sure that all of the following conditions are met.
No. Execution Condition Confirmation Method
1 There must be no alarms. Both IL02 and IL04 must be 0.
IW08 must be 0 and bit 0 in
2 Motion command execution must be completed.
IW09 must be 0.

2. Set the following setting parameters.

• OW09, Bit 8 (SERVOPACK Parameter Access Selection)
• OW50 (SERVOPACK Parameter Number)
• OW51 (SERVOPACK Parameter Size)

3. Set the OW08 setting parameter (Motion Commands) to 17 to execute the PRM_RD motion
command.
The set value of the target parameter is stored in the IW36 and IL38 monitor parameters.
The IW08 monitor parameter (Motion Command Response Code) is 17 during execution of this
command.
During command processing, bit 0 (Command Execution Flag) in the IW09 monitor parameter will
change to 1 (Processing). When processing is completed, this bit will change to 0 (Completed).

4. Set OW08 to 0 to execute the NOP motion command.

This concludes the process for reading SERVOPACK parameters.

Holding and Canceling Commands

Bit 0 (Hold Command) and bit 1 (Cancel Command) in the OW09 setting parameter cannot be used
to stop the axis.

Related Parameters

 Setting Parameters
Register
Name Setting Details
Address
OW08 Motion Commands Set this parameter to 17 (PRM_RD) to read a SERVOPACK parameter.
OW09
Hold Command This bit is ignored for the PRM_RD command.
Bit 0
OW09
Cancel Command This bit is ignored for the PRM_RD command.
Bit 1
Continued on next page.

6-78
 6.2 Motion Command Details
PRM_RD (Read SERVOPACK Parameter)

Continued from previous page.

Register
Name Setting Details
Address
Use this bit to select the parameter to read.
OW09 SERVOPACK Parame-
0: Vendor-specific parameters
Bit 8 ter Access Selection
1: Common parameters
SERVOPACK Parame-
OW50 Set the number of the SERVOPACK parameter to read.
ter Number
Set the size of the SERVOPACK parameter to read.
SERVOPACK Parame-
OW51 Set the size in words.
ter Size
Example: For 4 bytes, set this parameter to 2.

 Monitor Parameters
Register
Name Monitored Contents
Address
IL02 Warnings This parameter reports the current warning status.
IL04 Alarms This parameter reports the current alarm status.
Motion Command This parameter shows the motion command currently in execution.
IW08
Response Code This parameter is 17 during execution of the PRM_RD command.
IW09 Command Execu- This bit is 1 (Processing) during execution of the PRM_RD command. The
Bit 0 tion Flag bit changes to 0 (Completed) when execution ends.
IW09 Command Hold This bit is always 0 (Command hold not completed) for the PRM_RD com-
Bit 1 Completed mand.
This bit changes to 1 (Completed with an error) when an error occurs during
IW09 execution of the PRM_RD command.
Command Error End
Bit 3 The axis will decelerate to a stop if it is moving. This bit changes to 0 (Com-
pleted normally) when another command is executed.
IW09 Command Execu- This bit changes to 1 (Normal execution completed) when execution of the
Bit 8 tion Completed PRM_RD command ends.
SERVOPACK This parameter stores the number of the SERVOPACK parameter that was
IW36
Parameter Number read.
SERVOPACK
IL38 This parameter stores the data of the SERVOPACK parameter that was read.
Parameter Read Data

Motion Commands
Timing Charts

 Normal Completion
OW08 = 17 (PRM_RD)
IW08 = 17 (PRM_RD)
IW09 Bit 0 (BUSY) This interval is
6
IW09 Bit 3 (FAIL) not constant.
IW09 Bit 8 (COMPLETE)

 Error Completion
OW08 = 17 (PRM_RD)
IW08 = 17 (PRM_RD)
IW09 Bit 0 (BUSY) This interval is
IW09 Bit 3 (FAIL) not constant.
IW09 Bit 8 (COMPLETE)

6-79
 6.2 Motion Command Details
PRM_WR (Write SERVOPACK Parameter)

PRM_WR (Write SERVOPACK Parameter)

The PRM_WR command overwrites the setting of a SERVOPACK parameter using the specified parame-
ter number, parameter size, and set value data.
Two types of SERVOPACK parameters can be written with this command: vendor-specific parameters,
which are vendor-specific specifications for the particular Servo product used, and Servo common param-
eters, which are defined in the MECHATROLINK-III communications specifications. Set bit 8 (SERVO-
PACK Parameter Access Selection) in the OW09 setting parameter to select which type of
SERVOPACK parameter to write.

Execution and Operating Procedures

1. Make sure that all of the following conditions are met.
No. Execution Condition Confirmation Method
1 There must be no alarms. Both IL02 and IL04 must be 0.
IW08 must be 0 and bit 0 in
2 Motion command execution must be completed.
IW09 must be 0.

2. Set the following setting parameters.

• OW09, Bit 8 (SERVOPACK Parameter Access Selection)
• OW50 (SERVOPACK Parameter Number)
• OW51 (SERVOPACK Parameter Size)
• OL52 (SERVOPACK Parameter Set Value)

3. Set the OW08 setting parameter (Motion Commands) to 18 to execute the PRM_WR
motion command.
The SERVOPACK parameter is overwritten.
The IW08 monitor parameter (Motion Command Response Code) is 18 during execution of this
command.
During command processing, bit 0 (Command Execution Flag) in the IW09 monitor parameter will
change to 1 (Processing). When processing is completed, this bit will change to 0 (Completed).

4. Set OW08 to 0 to execute the NOP motion command.

This concludes the process for writing SERVOPACK parameters.

Holding and Canceling Commands

Bit 0 (Hold Command) and bit 1 (Cancel Command) in the OW09 setting parameter cannot be used
to stop the axis.

Related Parameters

 Setting Parameters
Register
Name Setting Details
Address
Set this parameter to 18 (PRM_WR) to write a SERVOPACK parame-
OW08 Motion Commands
ter.
OW09
Hold Command This bit is ignored for the PRM_WR command.
Bit 0
Continued on next page.

6-80
 6.2 Motion Command Details
PRM_WR (Write SERVOPACK Parameter)

Continued from previous page.

Register
Name Setting Details
Address
OW09
Cancel Command This bit is ignored for the PRM_WR command.
Bit 1
Use this bit to select the parameter to write.
OW09 SERVOPACK Parame-
0: Vendor-specific parameters
Bit 8 ter Access Selection
1: Common parameters
SERVOPACK Parame-
OW50 Set the number of the SERVOPACK parameter to write.
ter Number
Set the size of the SERVOPACK parameter to write.
SERVOPACK Parame-
OW51 Set the size in words.
ter Size
Example: For 4 bytes, set this parameter to 2.
SERVOPACK Parame-
OL52 Set the set value data to write to the target SERVOPACK parameter.
ter Set Value

 Monitor Parameters
Register
Name Monitored Contents
Address
IL02 Warnings This parameter reports the current warning status.
IL04 Alarms This parameter reports the current alarm status.
Motion Command This parameter shows the motion command currently in execution.
IW08
Response Code This parameter is 18 during execution of the PRM_WR command.
IW09 Command Execu- This bit is 1 (Processing) during execution of the PRM_WR command. The
Bit 0 tion Flag bit changes to 0 (Completed) when execution ends.
IW09 Command Hold This bit is always 0 (Command hold not completed) for the PRM_WR com-
Bit 1 Completed mand.
This bit changes to 1 (Completed with an error) when an error occurs during
IW09 execution of the PRM_WR command.
Command Error End
Bit 3 The axis will decelerate to a stop if it is moving. This bit changes to 0 (Com-
pleted normally) when another command is executed.
IW09 Command Execu- This bit changes to 1 (Normal execution completed) when execution of the
Bit 8 tion Completed PRM_WR command ends.

Motion Commands
Timing Charts

 Normal Completion
OW08 = 18 (PRM_WR)
IW08 = 18 (PRM_WR)
IW09 Bit 0 (BUSY) This interval is
6
IW09 Bit 3 (FAIL) not constant.
IW09 Bit 8 (COMPLETE)

 Error Completion
OW08 = 18 (PRM_WR)
IW08 = 18 (PRM_WR)
IW09 Bit 0 (BUSY) This interval is
IW09 Bit 3 (FAIL) not constant.
IW09 Bit 8 (COMPLETE)

6-81
 6.2 Motion Command Details
ALM_MON (Monitor Alarms)

ALM_MON (Monitor Alarms)

The ALM_MON command reads the alarm or warning that is current in the SERVOPACK and stores it in
the IW2D monitor parameter (SERVOPACK Alarm Code). You can use this command to check all
alarms that have occurred, even if multiple alarms occurred at the same time.

Execution and Operating Procedures

1. Make sure that the following condition is met.
No. Execution Condition Confirmation Method
IW08 must be 0 and bit 0 in
1 Motion command execution must be completed.
IW09 must be 0.

2. Set the OW4F setting parameter (SERVOPACK Alarm Monitor Number).

3. Set the OW08 setting parameter (Motion Commands) to 19 to execute the ALM_MON
motion command.
The alarm or warning that is current in the SERVOPACK is read, and is then stored in IW2D.
The IW08 monitor parameter (Motion Command Response Code) is 19 during execution of this
command.
During command processing, bit 0 (Command Execution Flag) in the IW09 monitor parameter will
change to 1 (Processing). When processing is completed, this bit will change to 0 (Completed).

4. Set OW08 to 0 to execute the NOP motion command.

This concludes the alarm monitor operation.

Holding and Canceling Commands

Bit 0 (Hold Command) and bit 1 (Cancel Command) in the OW09 setting parameter cannot be used
to stop the axis.

Related Parameters

 Setting Parameters
Register
Name Setting Details
Address
OW08 Motion Commands Set this parameter to 19 (ALM_MON) to execute the alarm monitor.
OW09
Hold Command This bit is ignored for the ALM_MON command.
Bit 0
OW09
Cancel Command This bit is ignored for the ALM_MON command.
Bit 1
SERVOPACK
OW4F Alarm Monitor Set the number of the alarm to monitor.
Number

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 6.2 Motion Command Details
ALM_MON (Monitor Alarms)

 Monitor Parameters
Register
Name Monitored Contents
Address
IL02 Warnings This parameter reports the current warning status.
IL04 Alarms This parameter reports the current alarm status.
Motion Command This parameter shows the motion command currently in execution.
IW08
Response Code This parameter is 19 during execution of the ALM_MON command.
IW09 Command Execu- This bit changes to 1 (Processing) during execution of the ALM_MON
Bit 0 tion Flag command. The bit changes to 0 (Completed) when execution ends.
IW09 Command Hold This bit is always 0 (Command hold not completed) for the ALM_MON
Bit 1 Completed command.
This bit changes to 1 (Completed with an error) when an error occurs during
IW09 execution of the ALM_MON command.
Command Error End
Bit 3 The axis will decelerate to a stop if it is moving. This bit changes to 0 (Com-
pleted normally) when another command is executed.
IW09 Command Execu- This bit changes to 1 (Normal execution completed) when execution of the
Bit 8 tion Completed ALM_MON command ends.
SERVOPACK This parameter stores the SERVOPACK alarm or warning code that was
IW2D
Alarm Code read.

Timing Charts

 Normal Completion
OW08 = 19 (ALM_MON)
IW08 = 19 (ALM_MON)
IW09 Bit 0 (BUSY) This interval is
IW09 Bit 3 (FAIL) not constant.
IW09 Bit 8 (COMPLETE)
IL38 Undefined value Read results

 Error Completion

Motion Commands
OW08 = 19 (ALM_MON)
IW08 = 19 (ALM_MON)
IW09 Bit 0 (BUSY) This interval is
IW09 Bit 3 (FAIL) not constant.
IW09 Bit 8 (COMPLETE)
IL38 Undefined value
6

6-83
 6.2 Motion Command Details
ALM_HIST (Monitor Alarm History)

ALM_HIST (Monitor Alarm History)

The ALM_HIST command reads the alarm history stored in the SERVOPACK and stores it in the
IW2D monitor parameter (SERVOPACK Alarm Code).

Execution and Operating Procedures

1. Make sure that the following condition is met.
No. Execution Condition Confirmation Method
IW08 must be 0 and bit 0 in
1 Motion command execution must be completed.
IW09 must be 0.

2. Set the OW4F setting parameter (SERVOPACK Alarm Monitor Number).

3. Set the OW08 setting parameter (Motion Commands) to 20 to execute the ALM_HIST
motion command.
The alarm history that is stored in the SERVOPACK is read and stored in IW2D.
The IW08 monitor parameter (Motion Command Response Code) is 20 during execution of this
command.
During command processing, bit 0 (Command Execution Flag) in the IW09 monitor parameter will
change to 1 (Processing). When processing is completed, this bit will change to 0 (Completed).

4. Set OW08 to 0 to execute the NOP motion command.

This concludes the alarm history monitor operation.

Holding and Canceling Commands

Bit 0 (Hold Command) and bit 1 (Cancel Command) in the OW09 setting parameter cannot be used
to stop the axis.

Related Parameters

 Setting Parameters
Register
Name Setting Details
Address
Set this parameter to 20 (ALM_HIST) to execute the alarm history monitor
OW08 Motion Commands
operation.
OW09
Hold Command This bit is ignored for the ALM_HIST command.
Bit 0
OW09
Cancel Command This bit is ignored for the ALM_HIST command.
Bit 1
SERVOPACK
OW4F Alarm Monitor Set the number of the alarm to monitor.
Number

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 6.2 Motion Command Details
ALM_HIST (Monitor Alarm History)

 Monitor Parameters
Register
Name Monitored Contents
Address
IL02 Warnings This parameter reports the current warning status.
IL04 Alarms This parameter reports the current alarm status.
Motion Command This parameter shows the motion command currently in execution.
IW08
Response Code This parameter is 20 during execution of the ALM_HIST command.
IW09 Command Execu- This bit changes to 1 (Processing) during execution of the ALM_HIST com-
Bit 0 tion Flag mand. The bit changes to 0 (Completed) when execution ends.
IW09 Command Hold This bit is always 0 (Command hold not completed) for the ALM_HIST
Bit 1 Completed command.
This bit changes to 1 (Completed with an error) when an error occurs during
IW09 execution of the ALM_HIST command.
Command Error End
Bit 3 The axis will decelerate to a stop if it is moving. This bit changes to 0 (Com-
pleted normally) when another command is executed.
IW09 Command Execu- This bit changes to 1 (Normal execution completed) when operation of the
Bit 8 tion Completed ALM_HIST command ends.
SERVOPACK
IW2D This parameter stores the SERVOPACK alarm code that was read.
Alarm Code

Timing Charts

 Normal Completion
OW08 = 20 (ALM_HIST)
IW08 = 20 (ALM_HIST)
IW09 Bit 0 (BUSY) This interval is
IW09 Bit 3 (FAIL) not constant.
IW09 Bit 8 (COMPLETE)
IL38 Undefined value Read results

 Error Completion

Motion Commands
OW08 = 20 (ALM_HIST)
IW08 = 20 (ALM_HIST)
IW09 Bit 0 (BUSY) This interval is
IW09 Bit 3 (FAIL) not constant.
IW09 Bit 8 (COMPLETE)
IL38 Undefined value
6

6-85
 6.2 Motion Command Details
ALMHIST_CLR (Clear Alarm History)

ALMHIST_CLR (Clear Alarm History)

When the ALMHIST_CLR command is executed, the alarm history data that is stored in the SERVO-
PACK is cleared.

Execution and Operating Procedures

1. Make sure that the following condition is met.
No. Execution Condition Confirmation Method
IW08 must be 0 and bit 0 in
1 Motion command execution must be completed.
IW09 must be 0.

2. Set the OW08 setting parameter (Motion Commands) to 21 to execute the ALMHIST_CLR
motion command.
The alarm history data that is stored in the SERVOPACK is cleared.
The IW08 monitor parameter (Motion Command Response Code) is 21 during execution of this
command.
During command processing, bit 0 (Command Execution Flag) in the IW09 monitor parameter will
change to 1 (Processing). When processing is completed, this bit will change to 0 (Completed).

3. Set OW08 to 0 to execute the NOP motion command.

This concludes the clear alarm history operation.

Holding and Canceling Commands

Bit 0 (Hold Command) and bit 1 (Cancel Command) in the OW09 setting parameter cannot be used
to stop the axis.

Related Parameters

 Setting Parameters
Register
Name Setting Details
Address
OW08 Motion Commands Set this parameter to 21 (ALMHIST_CLR) to clear the alarm history.
OW09
Hold Command This bit is ignored for the ALMHIST_CLR command.
Bit 0
OW09
Cancel Command This bit is ignored for the ALMHIST_CLR command.
Bit 1

6-86
 6.2 Motion Command Details
ALMHIST_CLR (Clear Alarm History)

 Monitor Parameters
Register
Name Monitored Contents
Address
IL02 Warnings This parameter reports the current warning status.
IL04 Alarms This parameter reports the current alarm status.
Motion Command This parameter shows the motion command currently in execution.
IW08
Response Code This parameter is 21 during execution of the ALMHIST_CLR command.
IW09 Command Execu- This bit changes to 1 (Processing) during execution of the ALMHIST_CLR
Bit 0 tion Flag command. The bit changes to 0 (Completed) when execution ends.
IW09 Command Hold This bit is always 0 (Command hold not completed) for the ALMHIST_-
Bit 1 Completed CLR command.
This bit changes to 1 (Completed with an error) when an error occurs during
IW09 execution of the ALMHIST_CLR command.
Command Error End
Bit 3 The axis will decelerate to a stop if it is moving. This bit changes to 0 (Com-
pleted normally) when another command is executed.
IW09 Command Execu- This bit changes to 1 (Normal execution completed) when execution of the
Bit 8 tion Completed ALMHIST_CLR command ends.

Timing Charts

 Normal Completion
OW08 = 21 (ALMHIST_CLR)
IW08 = 21 (ALMHIST_CLR)
IW09 Bit 0 (BUSY) This interval is
IW09 Bit 3 (FAIL) not constant.
IW09 Bit 8 (COMPLETE)
IW2D Alarm code (0) Alarm code (0)

Alarm code (code specified)

 Error Completion

Motion Commands
OW08 = 21 (ALMHIST_CLR)
IW08 = 21 (ALMHIST_CLR)
IW09 Bit 0 (BUSY)
This interval is
IW09 Bit 3 (FAIL) not constant.
IW09 Bit 8 (COMPLETE)
IW2D Alarm code (0) Alarm code (0) Alarm code (0)

6-87
 6.2 Motion Command Details
ABS_RST (Reset Absolute Encoder)

ABS_RST (Reset Absolute Encoder)

The ABS_RST command cannot be used with the SVC or SVC32 Function Module.
Refer to the following section for the procedure to reset an absolute encoder when using the SVC or
SVC32 Function Module with a Servo Drive.
12.5 Resetting the Absolute Encoder (page 12-43)

6-88
 6.2 Motion Command Details
VELO (Issue Speed Reference)

VELO (Issue Speed Reference)

Execute the VELO command to operate in Speed Control Mode.
This enables the same operation as when the SERVOPACK analog speed reference input is used.

1. Position information and feedback speed are not refreshed when the SVR or SVR32 Function Mod-
ule is used.
2. Torque feedforward compensation can be used with the VELO command. The torque feedforward
Note
compensation is set in the OL0C setting parameter (Torque/Force Reference Setting or
Torque Feedforward Compensation). If torque feedforward compensation is not necessary, set
OL0C to 0.
3. The torque can be limited with the OL14 setting parameter (Torque/Force Limit).
OL14 can be changed at any time. The intended operation may not be achieved if the set
value is too small.

Execution and Operating Procedures

1. Make sure that all of the following conditions are met.
No. Execution Condition Confirmation Method
1 There must be no alarms. Both IL02 and IL04 must be 0.
IW08 must be 0 and bit 0 in
2 Motion command execution must be completed.* IW09 must be 0.
* This condition refers to basic command execution. Refer to the following chapter for details on switching
from another command.
Chapter 7 Switching Commands

2. Set the following setting parameters.

• OW01 (Speed Loop P/PI Switch)
• OW03, Bits 8 to B (Filter Type Selection)
• OL0C (Torque/Force Reference Setting or Torque Feedforward Compensation)
• OL10 (Speed Reference Setting)
• OW12 (Speed Limit)
• OL14 (Torque/Force Limit)

Motion Commands
Information • OL10 can be changed during operation.
• An override of between 0% and 327.67% can be set for OL10.

3. Set the OW08 setting parameter (Motion Commands) to 23 to execute the VELO motion
command.
The control mode is changed to speed control for the SERVOPACK.
The IW08 monitor parameter (Motion Command Response Code) is 23 during execution of this 6
command.

Information • Commands can be executed even when the Servomotor’s power is OFF (Servo OFF).
• Position management with position feedback is enabled when operating in Speed Control
Mode.

4. Set OW08 to any code other than 23.

Speed Control Mode is turned OFF.
This concludes the issue speed reference operation.

6-89
 6.2 Motion Command Details
VELO (Issue Speed Reference)

Operating Patterns
The following figure shows the operating pattern when the VELO command is executed.
VELO Operating Pattern
VELO(%)
Speed Operating Pattern

0
Time (t)

Holding
• To hold an axis in place during motion and resume operation at a later time, set bit 0 (Hold Command) in
the OW09 setting parameter to 1 (Hold Command ON).
When bit 0 in OW09 is set to 1, the axis will decelerate to a stop.
The deceleration operation depends on the setting of bits 8 to F (Stop Mode Selection) in the
OW02 setting parameter.
When the axis completely decelerates to a stop, bit 1 (Command Hold Completed) in the IW09
monitor parameter will change to 1 (Completed).
• To release the hold, set bit 0 (Hold Command) in OW09 to 0 (Hold Command OFF).
This clears the command hold status and the remaining portion of the positioning operation is restarted.

Canceling
• To cancel Speed Control Mode, set bit 1 (Cancel Command) in the OW09 setting parameter to 1
(Cancel Command ON).
When bit 1 in OW09 is set to 1, the axis will decelerate to a stop.
The deceleration operation depends on the setting of bits 8 to F (Stop Mode Selection) in the
OW02 setting parameter.
When the axis completely decelerates to a stop, the remaining motion will be canceled and bit 1 (Posi-
tioning Completed) in the IW0C monitor parameter will change to 1 (Within positioning com-
pleted range).
• Speed Control Mode resumes if bit 1 (Cancel Command) in the OW09 setting parameter is set to
0 (Cancel Command OFF) during processing of the cancel operation.
• The same operation as the Cancel Command operation will be performed if the motion command code
is changed during operation in Speed Control Mode.

Due to the delay that occurs when sending or receiving CPU Function Module and the SVC or SVC32
Function Module commands and responses, the cancel processing may have been completed
(IW08 is 23 and bit 8 in IW09 is 1), even though an attempt was made to restart the oper-
Note
ation. Set OW08 to any command other than VELO (e.g., NOP), and then start the operation
again.
If an operation is to be frequently canceled and restarted within a short interval, remember to consider
this delay.

6-90
 6.2 Motion Command Details
VELO (Issue Speed Reference)

Related Parameters

 Setting Parameters
Register
Name Setting Details
Address
Use this bit to turn the power to the Servomotor ON or OFF.
OW00 After the mode is changed to Speed Control Mode, set this bit to 1 to
Servo ON
Bit 0 start operation.
0: Servo OFF, 1: Servo ON
Use this bit to change the speed control loop between PI control and P
OW01
Speed Loop P/PI Switch control.
Bit 3
0: PI control, 1: P control
These bits select the stop method to use when a command is canceled.
OW02 0: Stop according to the Linear Deceleration Rate/Deceleration Time
Stop Mode Selection
Bit 8 to F Constant parameter
1: Stop immediately
OW03 Function Settings 1 Select the speed unit, acceleration/deceleration unit, and filter type.
Set this parameter to 23 (VELO) to change operation to Speed Control
OW08 Motion Commands
Mode.
When this bit is set to 1 (ON) during an issue speed reference operation,
OW09 the axis will decelerate to a stop.
Hold Command
Bit 0 Operation is resumed when this bit is set to 0 (OFF) when the axis is
being held.
OW09 When this bit is set to 1 (ON) during operation, the axis will decelerate
Cancel Command
Bit 1 to a stop.
Torque/Force Reference
OL0C Setting or Torque Feed- Set the torque feedforward amount during speed control.
forward Compensation
Set the speed. This parameter can be changed during operation.
OL10 Speed Reference Setting
The unit depends on the set value of bits 0 to 3 in OW03.
Set the upper speed limit as a percentage of the rated speed. This value
OW12 Speed Limit is an absolute value. It is used in both the positive and negative direc-
tions.
Set the torque limit for the speed reference. The same value is used in
OL14 Torque/Force Limit

Motion Commands
both the positive and negative directions.
This parameter allows the speed to be changed without changing the
value of OL10.
Set the value as a percentage of the Speed Reference Setting. This
OW18 Override parameter can be changed during operation.
Setting range: 0 to 32,767 (0% to 327.67%)
Setting unit: 1 = 0.01%
Example: Setting for 50% = 5,000 6
Linear Acceleration
OL36 Rate/Acceleration Time Set the acceleration rate or acceleration time.
Constant
Linear Deceleration
OL38 Rate/Deceleration Time Set the deceleration rate or deceleration time.
Constant
Set the acceleration/deceleration filter time constant. Exponential
acceleration/deceleration or a moving average filter can be selected in
OW3A Filter Time Constant bits 8 to B in OW03.
This setting can be changed only when reference pulse distribution has
been completed (i.e., when bit 0 in IW0C is 1).

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 6.2 Motion Command Details
VELO (Issue Speed Reference)

 Monitor Parameters
Register
Name Monitored Contents
Address
IW00 Running with Servo This bit shows the Servo status for the axis.
Bit 1 ON 0: Stopped, 1: Running with Servo ON
IL02 Warnings This parameter reports the current warning status.
IL04 Alarms This parameter reports the current alarm status.
Motion Command This parameter shows the motion command currently in execution.
IW08
Response Code This parameter is 23 during execution of the VELO command.
This bit changes to 1 (Processing) when cancel processing is being per-
IW09 Command Execution
formed for the VELO command. This bit changes to 0 (Completed) when
Bit 0 Flag
cancel processing has been completed.
IW09 Command Hold This bit is always 0 (Command hold not completed) for the VELO com-
Bit 1 Completed mand.
This bit changes to 1 (Completed with an error) when an error occurs
IW09 during execution of the VELO command.
Command Error End
Bit 3 The axis will decelerate to a stop if it is in operation. This bit changes to 0
(Completed normally) when another command is executed.
IW09 Command Execution This bit is always 0 (Normal execution not completed) for the VELO com-
Bit 8 Completed mand.
This bit changes to 1 (Distribution completed) when the distribution of ref-
IW0C Distribution Com- erence pulses for the movement motion command is completed.
Bit 0 pleted This bit is 0 (Distributing pulses) when the execution of a movement
motion command is in progress.
This bit is 1 (Within positioning completed range) when pulse distribution
IW0C Positioning Com-
is completed and the current position is within the positioning completed
Bit 1 pleted
range. This bit is 0 (Outside positioning completed range) in all other cases.
The operation of this bit depends on the set value of OL20.
If OL20 is 0, this bit is 1 (Within near position range) when reference
pulse distribution is completed (i.e., when DEN is 1), and it is 0 (Outside
near position range) when reference pulse distribution is not completed.
When OL20 is not 0, this bit is 1 when within the range of the fol-
IW0C lowing formula, regardless of the state of reference pulse distribution, and 0
Near Position
Bit 3 in all other cases.
| (IL12) − (IL16) | ≤ OL20
IL12: Machine Coordinate System Reference Position
IL16: Machine Coordinate System Feedback Position
OL20: NEAR Signal Output Width

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 6.2 Motion Command Details
VELO (Issue Speed Reference)

Timing Charts

 Normal Execution

OW08 = 23 (VELO)
IW08 = 23 (VELO)
IW09 Bit 0 (BUSY)
IW09 Bit 3 (FAIL)
IW09 Bit 8 (COMPLETE)
IW0C Bit 0 (DEN)

1 scan

 Execution When Canceled

OW08 = 23 (VELO)
OW09 Bit 1 (ABORT)
IW08 = 23 (VELO)
IW09 Bit 0 (BUSY)
IW09 Bit 3 (FAIL)
IW09 Bit 8 (COMPLETE)
IW0C Bit 0 (DEN) Position
Speed Control Mode Control Mode

 Execution When Command Is Changed

Motion Commands
OW08 = 23 (VELO)
IW08 = 23 (VELO)
IW09 Bit 0 (BUSY)
IW09 Bit 3 (FAIL)
IW09 Bit 8 (COMPLETE)
IW0C Bit 0 (DEN) 6
Position
Speed Control Mode Control Mode

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 6.2 Motion Command Details
VELO (Issue Speed Reference)

 Execution When Holding

OW08 = 23 (VELO)
OW09 Bit 0 (HOLD)
IW08 = 23 (VELO)
IW09 Bit 0 (BUSY)
IW09 Bit 1 (HOLDL)
IW09 Bit 3 (FAIL)
IW09 Bit 8 (COMPLETE)
IW0C Bit 0 (DEN)

1 scan
Speed Control Mode Position Control Mode

 Execution When an Alarm Occurs

OW08 = 23 (VELO)
IW08 = 23 (VELO)
IW09 Bit 0 (BUSY)
IW09 Bit 3 (FAIL)
IW09 Bit 8 (COMPLETE)
IW0C Bit 0 (DEN)

Alarms 1 scan

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 6.2 Motion Command Details
TRQ (Issue Torque/Force Reference)

TRQ (Issue Torque/Force Reference)

Execute the TRQ command to operate in Torque Control Mode.
This enables the same operation as when the SERVOPACK analog torque reference input is used.

Position information and speed feedback values are not refreshed when the SVR or SVR32 Function
Module is used.
Note

Execution and Operating Procedures

1. Make sure that all of the following conditions are met.
No. Execution Condition Confirmation Method
1 There must be no alarms. Both IL02 and IL04 must be 0.
IW08 must be 0 and bit 0 in
2 Motion command execution must be completed.* IW09 must be 0.
* This condition refers to basic command execution. Refer to the following chapter for details on switching
from another command.
Chapter 7 Switching Commands

2. Set the following setting parameters.

• OW03, Bits C to F (Torque Unit Selection)
• OL0C (Torque/Force Reference Setting or Torque Feedforward Compensation)
• OL0E (Speed Limit)

Information OL0C can be changed during operation.

3. Set the OW08 setting parameter (Motion Commands) to 24 to execute the TRQ motion
command.
The control mode is changed to torque control for the SERVOPACK.
The IW08 monitor parameter (Motion Command Response Code) is 24 during execution of this
command.

Motion Commands
Information • Commands can be executed even when the Servomotor’s power is OFF (Servo OFF).
• Position management with position feedback is enabled when operating in Torque Control
Mode.

4. Set OW08 to any code other than 24.

Torque Control Mode is turned OFF.
This concludes the torque control operation. 6

6-95
 6.2 Motion Command Details
TRQ (Issue Torque/Force Reference)

Operating Patterns
The following figure shows the operating pattern when the TRQ command is executed.
Torque

0 Time (t)

Holding
• To hold an axis in place during motion and resume operation at a later time, set bit 0 (Hold Command) in
the OW09 setting parameter to 1 (Hold Command ON).
When bit 0 in OW09 is set to 1, the axis will decelerate to a stop.
The deceleration operation depends on the setting of bits 8 to F (Stop Mode Selection) in the
OW02 setting parameter.
When the axis completely decelerates to a stop, bit 1 (Command Hold Completed) in the IW09
monitor parameter will change to 1 (Completed).
• To release the hold, set bit 0 (Hold Command) in OW09 to 0 (Hold Command OFF).
This clears the command hold status and the remaining portion of the positioning operation is restarted.

Canceling
• Set bit 1 (Cancel Command) in the OW09 setting parameter to 1 (Cancel Command ON).
When bit 1 in OW09 is set to 1, the axis will decelerate to a stop.
The deceleration operation depends on the setting of bits 8 to F (Stop Mode Selection) in the
OW02 setting parameter.
When the axis completely decelerates to a stop, the remaining motion will be canceled and bit 1 (Posi-
tioning Completed) in the IW0C monitor parameter will change to 1 (Within positioning com-
pleted range).
• Torque Control Mode resumes if bit 1 (Cancel Command) in the OW09 setting parameter is set to
0 (Cancel Command OFF) during processing of the cancel operation.
• The same operation as the Cancel Command operation will be performed if the motion command code
is changed during operation in Torque Control Mode.

The OL0C (Torque/Force Reference Setting or Torque Feedforward Compensation) is used as

the torque feedforward reference value when any of the following motion commands are executed.
• INTERPOLATE
Note
• LATCH
• VELO
• PHASE
If any of the above motion commands are used in combination with other motion commands, set the
Torque/Force Reference Setting to 0 when the command cancel processing is completed so that the
Torque/Force Reference Setting will not cause any unintended effects.

6-96
 6.2 Motion Command Details
TRQ (Issue Torque/Force Reference)

Related Parameters

 Setting Parameters
Register
Name Setting Details
Address
Use this bit to turn the power to the Servomotor ON or OFF.
OW00 After the mode is changed to Torque Control Mode, set this bit to 1 to
Servo ON
Bit 0 start operation.
0: Servo OFF, 1: Servo ON
Select the stop method to use when torque control is canceled.
OW02 0: Stop according to the Linear Deceleration Rate/Deceleration Time
Stop Mode Selection
Bits 8 to F Constant parameter
1: Stop immediately
OW03 Function Settings 1 Select the torque unit.
Set this parameter to 24 (TRQ) to change operation to Torque Control
OW08 Motion Commands
Mode.
When this bit is set to 1 (ON) during an issue torque reference opera-
OW09 tion, the axis stops.
Hold Command
Bit 0 Operation is resumed when this bit is set to 0 (OFF) when the axis is
being held.
OW09 When this bit is set to 1 (ON) during operation, the axis will decelerate
Cancel Command
Bit 1 to a stop.
Torque/Force Reference Set the value of the torque reference. This parameter can be changed
OL0C Setting or Torque Feed- during operation.
forward Compensation The unit depends on the set value of bits C to F in OW03.
Speed Limit for Torque/ Set the speed limit for torque references. Set this value as a percentage
OL0E
Force Reference of the rated speed.
Linear Deceleration
Specify the deceleration rate when torque control is canceled as the
OL38 Rate/Deceleration Time
deceleration time.
Constant
Set the acceleration/deceleration filter time constant. Exponential
acceleration/deceleration or a moving average filter can be selected in
OW3A Filter Time Constant bits 8 to B in OW03.
This setting can be changed only when reference pulse distribution has

Motion Commands
been completed (i.e., when bit 0 in IW0C is 1).

 Monitor Parameters
Register
Name Monitored Contents
Address
IW00 Running with Servo This bit shows the Servo status for the axis.
Bit 1 ON 0: Stopped, 1: Running with Servo ON 6
IL02 Warnings This parameter reports the current warning status.
IL04 Alarms This parameter reports the current alarm status.
Motion Command This parameter shows the motion command currently in execution.
IW08
Response Code This parameter is 24 during execution of the TRQ command.
This bit changes to 1 (Processing) when cancel processing is being per-
IW09 Command Execution
formed for the TRQ command. This bit changes to 0 (Completed) when
Bit 0 Flag
cancel processing has been completed.
IW09 Command Hold This bit is always 0 (Command hold not completed) for the TRQ com-
Bit 1 Completed mand.
Continued on next page.

6-97
 6.2 Motion Command Details
TRQ (Issue Torque/Force Reference)

Continued from previous page.

Register
Name Monitored Contents
Address
This bit changes to 1 (Completed with an error) when an error occurs
IW09 during execution of the TRQ command.
Command Error End
Bit 3 The axis will decelerate to a stop if it is in operation. This bit changes to 0
(Completed normally) when another command is executed.
IW09 Command Execution This bit is always 0 (Normal execution not completed) for the TRQ com-
Bit 8 Completed mand.
This bit changes to 1 (Distribution completed) when the distribution of ref-
IW0C Distribution Com- erence pulses for the movement motion command is completed.
Bit 0 pleted This bit is 0 (Distributing pulses) when the execution of a movement
motion command is in progress.
This bit is 1 (Within positioning completed range) when pulse distribution
IW0C Positioning Com-
is completed and the current position is within the positioning completed
Bit 1 pleted
range. This bit is 0 (Outside positioning completed range) in all other cases.
The operation of this bit depends on the set value of OL20.
If OL20 is 0, this bit is 1 (Within near position range) when refer-
ence pulse distribution is completed (i.e., when DEN is 1), and it is 0 (Out-
side near position range) when reference pulse distribution is not
completed.
IW0C When OL20 is not 0, this bit is 1 when within the range of the fol-
Near Position lowing formula, regardless of the state of reference pulse distribution, and
Bit 3
0 in all other cases.
| (IL12) − (IL16) | ≤ OL20
IL12: Machine Coordinate System Reference Position
IL16: Machine Coordinate System Feedback Position
OL20: NEAR Signal Output Width

Timing Charts

 Normal Execution

OW08 = 24 (TRQ)
IW08 = 24 (TRQ)
IW09 Bit 0 (BUSY)
IW09 Bit 3 (FAIL)
IW09 Bit 8 (COMPLETE)
IW0C Bit 0 (DEN)

1 scan

6-98
 6.2 Motion Command Details
TRQ (Issue Torque/Force Reference)

 Execution When Canceled

OW08 = 24 (TRQ)
OW09 Bit 1 (ABORT)
IW08 = 24 (TRQ)
IW09 Bit 0 (BUSY)
IW09 Bit 3 (FAIL)
IW09 Bit 8 (COMPLETE)
IW0C Bit 0 (DEN)
Position
IW0C Bit 1 (POSCOMP) Torque Control Mode Control Mode

1 scan

 Execution When Holding

OW08 = 24 (TRQ)
OW09 Bit 0 (HOLD)
IW08 = 24 (TRQ)
IW09 Bit 0 (BUSY)
IW09 Bit 1 (HOLDL)
IW09 Bit 3 (FAIL)
IW09 Bit 8 (COMPLETE)
IW0C Bit 0 (DEN)
Position
1 scan Torque Control Mode Control Mode

 Execution When an Alarm Occurs

Motion Commands
OW08 = 24 (TRQ)
IW08 = 24 (TRQ)
IW09 Bit 0 (BUSY)
IW09 Bit 3 (FAIL)
IW09 Bit 8 (COMPLETE) 6
IW0C Bit 0 (DEN)
IW0C Bit 1 (POSCOMP)

1 scan This interval is not constant.

Alarms Position
Torque Control Mode Control Mode

6-99
 6.2 Motion Command Details
PHASE (Issue Phase Reference)

PHASE (Issue Phase Reference)

The PHASE command is used for the synchronized operation of multiple axes in Phase Control Mode,
using the specified speed, phase bias, and speed compensation.

1. Torque feedforward compensation can be used with the PHASE command. The torque feedforward
compensation is set in the OL0C setting parameter (Torque/Force Reference Setting or
Torque Feedforward Compensation). If torque feedforward compensation is not necessary, set
Note
OL0C to 0.
2. The torque can be limited with the OL14 setting parameter (Torque/Force Limit).
OL14 can be changed at any time. The intended operation may not be achieved if the set
value is too small.

Execution and Operating Procedures

1. Make sure that all of the following conditions are met.
No. Execution Condition Confirmation Method
1 There must be no alarms. Both IL02 and IL04 must be 0.
2 The Servomotor’s power must be ON. Bit 1 in IW00 must be 1.
IW08 must be 0 and bit 0 in
3 Motion command execution must be completed.
IW09 must be 0.

2. Set the following setting parameters.

• OW01 (Speed Loop P/PI Switch)
• OW03, Bits 8 to B (Filter Type Selection)
• OL0C (Torque/Force Reference Setting or Torque Feedforward Compensation)
• OL10 (Speed Reference Setting)
• OW12 (Speed Limit)
• OL14 (Torque/Force Limit)
• OL28 (Phase Compensation Setting)
• OW31 (Speed Compensation)

3. Set the OW08 setting parameter (Motion Commands) to 25 to execute the PHASE motion
command.
Synchronized operation through phase control is started.
The IW08 monitor parameter (Motion Command Response Code) is 25 during execution of this
command.

4. Set OW08 to any code other than 25.

Phase control is turned OFF.
This concludes the phase control operation.

Operating Patterns
The following figure shows the operating pattern when the PHASE command is executed.
Speed (%)

Position

0
Time (t)

6-100
 6.2 Motion Command Details
PHASE (Issue Phase Reference)

Holding and Canceling Commands

Bit 0 (Hold Command) and bit 1 (Cancel Command) in the OW09 setting parameter cannot be used
to stop the axis.

Related Parameters

 Setting Parameters
Register
Name Setting Details
Address
Use this bit to turn the power to the Servomotor ON or OFF.
OW00
Servo ON Set this parameter to 1 before setting OW08 to 25 (PHASE).
Bit 0
0: OFF, 1: ON
These bits select the stop method to use when a command is canceled.
OW02
Stop Mode Selection 0: Stop according to the Linear Deceleration Rate/Deceleration Time
Bits 8 to F
Constant parameter 1: Stop immediately
OW03 Function Settings 1 Select the speed unit, acceleration/deceleration unit, and filter type.
Use this bit to enable or disable phase reference calculations when the
PHASE command is executed. This setting determines if processing is
OW05 Disable Phase Refer- optimized for electronic shafts or electronic cams.
Bit 1 ence Calculation Setting Precautions
• This setting must be enabled when an electronic shaft is used.
• Disable this setting when an electronic cam is used.
Phase control operation is started when this parameter is set to 25
OW08 Motion Commands
(PHASE).
If a system with an electronic cam is used, set this parameter to select
the method for setting the phase compensation for the reference value
OW09 Electronic Cam Phase
of the cam pattern.
Bit 6 Compensation Type
0: Incremental value addition method,
1: Absolute value specification method
Torque/Force Reference
Set the torque feedforward amount during the issue phase reference
OL0C Setting or Torque Feed-
operation.
forward Compensation
Set the speed reference. This parameter can be changed during opera-

Motion Commands
OL10 Speed Reference Setting tion.
The unit depends on the set value of bits 0 to 3 in OW03.
Set the upper speed limit as a percentage of the rated speed. This value
OW12 Speed Limit is an absolute value. It is used in both the positive and negative direc-
tions.
OL14 Torque/Force Limit Set the torque limit for the issue phase reference operation.
Set the speed feedforward amount during execution of the PHASE
command.
6
Second Speed Compen- The setting unit for the OW31 setting parameter is always
OL16
sation 0.01%. However, the unit for this parameter can be selected. When this
parameter is used at the same time as OW31, speed compensa-
tion is performed twice.
Set the phase bias in reference units.
Setting Precautions
Phase Compensation
OL28 • When an electronic shaft is used, set the control bias.
Setting
• When an electronic cam is used, this parameter specifies the target
position for the cam pattern.
Set the speed feedforward amount as a percentage of the rated speed.
OW31 Speed Compensation
The setting unit for this parameter is always 0.01%.
Continued on next page.

6-101
 6.2 Motion Command Details
PHASE (Issue Phase Reference)

Continued from previous page.

Register
Name Setting Details
Address
Set the acceleration/deceleration filter time constant. Exponential
acceleration/deceleration or a moving average filter can be selected in
OW3A Filter Time Constant bits 8 to B in OW03.
This setting can be changed only when reference pulse distribution has
been completed (i.e., when bit 0 in IW0C is 1).

 Monitor Parameters
Register
Name Monitored Contents
Address
IW00 Running with Servo This bit shows the Servo status for the axis.
Bit 1 ON 0: Stopped, 1: Running with Servo ON
IL02 Warnings This parameter reports the current warning status.
IL04 Alarms This parameter reports the current alarm status.
Motion Command This parameter shows the motion command currently in execution.
IW08
Response Code This parameter is 25 during execution of the PHASE command.
IW09 Command Execution
This bit is always 0 (Completed) for the PHASE command.
Bit 0 Flag
IW09 Command Hold This bit is always 0 (Command hold not completed) for the PHASE com-
Bit 1 Completed mand.
This bit changes to 1 (Completed with an error) when an error occurs
IW09 during execution of the PHASE command.
Command Error End
Bit 3 The axis will decelerate to a stop if it is moving. This bit changes to 0
(Completed normally) when another command is executed.
IW09 Command Execution This bit is always 0 (Normal execution not completed) for the PHASE
Bit 8 Completed command.
This bit changes to 1 (Distribution completed) when the distribution of ref-
IW0C Distribution Com- erence pulses for the movement motion command is completed.
Bit 0 pleted This bit is 0 (Distributing pulses) when the execution of a movement
motion command is in progress.
This bit is 1 (Within positioning completed range) when pulse distribution
IW0C Positioning Com- is completed and the current position is within the positioning completed
Bit 1 pleted range.
This bit is 0 (Outside positioning completed range) in all other cases.
The operation of this bit depends on the set value of OL20.
If OL20 is 0, this bit is 1 (Within near position range) when refer-
ence pulse distribution is completed (i.e., when DEN is 1), and it is 0 (Out-
side near position range) when reference pulse distribution is not
completed.
IW0C When OL20 is not 0, this bit is 1 when within the range of the fol-
Near Position lowing formula, regardless of the state of reference pulse distribution, and 0
Bit 3
in all other cases.
| (IL12) − (IL16) | ≤ OL20
IL12: Machine Coordinate System Reference Position
IL16: Machine Coordinate System Feedback Position
OL20: NEAR Signal Output Width

6-102
 6.2 Motion Command Details
PHASE (Issue Phase Reference)

Timing Charts

 Normal Execution
The target position is updated automatically every scan period.

OW08 = 25 (PHASE)
IW08 = 25 (PHASE)
IW09 Bit 0 (BUSY)
IW09 Bit 3 (FAIL)
IW09 Bit 8 (COMPLETE)
IW0C Bit 0 (DEN)

IW0C Bit 1 (POSCOMP)

1 scan This interval is not constant.

 Execution When Canceled

Speed reference is updated every scan period.

OW08 = 25 (PHASE)
IW08 = 25 (PHASE)
IW09 Bit 0 (BUSY)
IW09 Bit 3 (FAIL)
IW09 Bit 8 (COMPLETE)
IW0C Bit 0 (DEN)
IW0C Bit 1 (POSCOMP)

1 scan This interval is not constant.

Motion Commands
 Execution When an Alarm Occurs

OW08 = 25 (PHASE)
Alarms
IW08 = 25 (PHASE) 6
IW09 Bit 0 (BUSY)
IW09 Bit 3 (FAIL)
IW09 Bit 8 (COMPLETE)
IW0C Bit 0 (DEN)
IW0C Bit 1 (POSCOMP)

1 scan This interval is not constant.

6-103
 6.2 Motion Command Details
KIS (Change Position Loop Integral Time Constant)

KIS (Change Position Loop Integral Time Constant)

The KIS command transfers the set value of the OW32 setting parameter (Position Loop Integral
Time Constant) to the Position Loop Integral Time Constant SERVOPACK parameter and enables the set-
ting.

The SVC or SVC32 Function Module can automatically transfer setting parameters to SERVOPACK
parameters when they are overwritten. The KIS command is not required if this function is used. Refer
to the following section for details.
Note
4.4 Motion Parameter Details −  No. 1: Function Selection Flags 1 −  Bit A: SERVOPACK Parameter Auto-
Write (page 4-33)

Execution and Operating Procedures

1. Make sure that all of the following conditions are met.
No. Execution Condition Confirmation Method
1 There must be no alarms. Both IL02 and IL04 must be 0.
IW08 must be 0 and bit 0 in
2 Motion command execution must be completed.
IW09 must be 0.

2. Set the OW08 setting parameter (Motion Commands) to 26 to execute the KIS motion com-
mand.
The value of OW32 is transferred to the Position Loop Integral Time Constant parameter of the
SERVOPACK and is enabled.
The IW08 monitor parameter (Motion Command Response Code) is 26 during execution of this
command.
During command processing, bit 0 (Command Execution Flag) in the IW09 monitor parameter will
change to 1 (Processing). When processing is completed, this bit will change to 0 (Completed).

3. Set OW08 to 0 to execute the NOP motion command.

This concludes the process for changing the position loop integral time constant.

Holding and Canceling Commands

Bit 0 (Hold Command) and bit 1 (Cancel Command) in the OW09 setting parameter cannot be used
to stop the axis.

Related Parameters

 Setting Parameters
Register
Name Setting Details
Address
Set this parameter to 26 (KIS) to change the position loop integral time
OW08 Motion Commands
constant.
OW09
Hold Command This bit is ignored for the KIS command.
Bit 0
OW09
Cancel Command This bit is ignored for the KIS command.
Bit 1
Position Loop Inte-
OW32 Set the position loop integral time constant in milliseconds.
gral Time Constant

6-104
 6.2 Motion Command Details
KIS (Change Position Loop Integral Time Constant)

 Monitor Parameters
Register
Name Monitored Contents
Address
IL02 Warnings This parameter reports the current warning status.
IL04 Alarms This parameter reports the current alarm status.
Motion Command This parameter shows the motion command currently in execution.
IW08
Response Code This parameter is 26 during execution of the KIS command.
IW09 Command Execu- This bit is 1 (Processing) during execution of the KIS command. The bit
Bit 0 tion Flag changes to 0 (Completed) when execution ends.
IW09 Command Hold
This bit is always 0 (Command hold not completed) for the KIS command.
Bit 1 Completed
This bit changes to 1 (Completed with an error) when an error occurs during
IW09 execution of the KIS command.
Command Error End
Bit 3 The axis will decelerate to a stop if it is moving. This bit changes to 0 (Com-
pleted normally) when another command is executed.
IW09 Command Execu- This bit changes to 1 (Normal execution completed) when execution of the
Bit 8 tion Completed KIS command ends.

Timing Charts

 Normal Completion
OW08 = 26 (KIS)
IW08 = 26 (KIS)
IW09 Bit 0 (BUSY) This interval is
IW09 Bit 3 (FAIL) not constant.
IW09 Bit 8 (COMPLETE)

 Error Completion
OW08 = 26 (KIS)
IW08 = 26 (KIS)

Motion Commands
IW09 Bit 0 (BUSY) This interval is
IW09 Bit 3 (FAIL) not constant.
IW09 Bit 8 (COMPLETE)

6-105
 6.2 Motion Command Details
PPRM_WR (Write Non-volatile Parameter)

PPRM_WR (Write Non-volatile Parameter)

The PPRM_WR command overwrites the setting of the specified SERVOPACK parameter in non-volatile
memory given with the parameter number, parameter size, and set value data, and then simultaneously
applies the result of that operation to the parameter in RAM.
Two types of SERVOPACK parameters can be written with this command: vendor-specific parameters,
which are vendor-specific specifications for the particular Servo product used, and Servo common param-
eters, which are defined in the MECHATROLINK-III communications specifications. Set bit 8 (SERVO-
PACK Parameter Access Selection) in the OW09 setting parameter to select which type of
SERVOPACK parameter to write.

1. The number of times that the non-volatile memory of the SERVOPACK can be written to depends
on the specifications of the device. Use the PPRM_WR command only when absolutely necessary.
You should normally write parameters with the PRM_WR (Write SERVOPACK Parameter) com-
Important
mand.
2. Be careful when setting the OW50 setting parameter (SERVOPACK Parameter Number). If
the wrong number is specified for this parameter, it could cause errors in later operations.
3. For some parameters, the power must be turned OFF and ON again to enable a change in the param-
eter. Always turn the power to the SERVOPACK OFF and ON again when changes are made to
these parameters. Refer to the relevant SERVOPACK manual for details on parameters.

Execution and Operating Procedures

1. Make sure that all of the following conditions are met.
No. Execution Condition Confirmation Method
IW08 must be 0 and bit 0 in
1 Motion command execution must be completed.
IW09 must be 0.
2 Must be ready for motion operation. Bit 0 in IW00 must be 1.

2. Set the following setting parameters.

• OW09, Bit 8 (SERVOPACK Parameter Access Selection)
• OW50 (SERVOPACK Parameter Number)
• OW51 (SERVOPACK Parameter Size)
• OL52 (SERVOPACK Parameter Set Value)

3. Set the OW08 setting parameter (Motion Commands) to 27 to execute the PPRM_WR
motion command.
The SERVOPACK parameter is overwritten.
The IW08 monitor parameter (Motion Command Response Code) is 27 during execution of this
command.
During command processing, bit 0 (Command Execution Flag) in the IW09 monitor parameter will
change to 1 (Processing). When processing is completed, this bit will change to 0 (Completed).

4. Set OW08 to 0 to execute the NOP motion command.

This concludes the process for writing to non-volatile parameters.

Holding and Canceling Commands

Bit 0 (Hold Command) and bit 1 (Cancel Command) in the OW09 setting parameter cannot be used
to stop the axis.

6-106
 6.2 Motion Command Details
PPRM_WR (Write Non-volatile Parameter)

Related Parameters

 Setting Parameters
Register
Name Setting Details
Address
OW08 Motion Commands Set this parameter to 27 (PPRM_WR) to write a non-volatile parameter.
OW09
Hold Command This bit is ignored for the PPRM_WR command.
Bit 0
OW09
Cancel Command This bit is ignored for the PPRM_WR command.
Bit 1
Use this bit to select the parameter to write.
OW09 SERVOPACK Parame-
0: Vendor-specific parameters
Bit 8 ter Access Selection
1: Common parameters
SERVOPACK Parame-
OW50 Set the number of the SERVOPACK parameter to write.
ter Number
Set the size of the SERVOPACK parameter to write.
SERVOPACK Parame-
OW51 Set the size in words.
ter Size
Example: For 4 bytes, set this parameter to 2.
SERVOPACK Parame-
OL52 Set the set value data to write to the target SERVOPACK parameter.
ter Set Value

 Monitor Parameters
Register
Name Monitored Contents
Address
IL02 Warnings This parameter reports the current warning status.
IL04 Alarms This parameter reports the current alarm status.
Motion Command This parameter shows the motion command currently in execution.
IW08
Response Code This parameter is 27 during execution of the PPRM_WR command.
IW09 Command Execu- This bit is 1 (Processing) during execution of the PPRM_WR command.
Bit 0 tion Flag The bit changes to 0 (Completed) when execution ends.
IW09 Command Hold This bit is always 0 (Command hold not completed) for the PPRM_WR
Bit 1 Completed command.

Motion Commands
This bit changes to 1 (Completed with an error) when an error occurs during
IW09 execution of the PPRM_WR command.
Command Error End
Bit 3 The axis will decelerate to a stop if it is moving. This bit changes to 0 (Com-
pleted normally) when another command is executed.
IW09 Command Execu- This bit changes to 1 (Normal execution completed) when execution of the
Bit 8 tion Completed PPRM_WR command ends.

6-107
 6.2 Motion Command Details
PPRM_WR (Write Non-volatile Parameter)

Timing Charts

 Normal Completion
OW08 = 27 (PPRM_WR)
IW08 = 27 (PPRM_WR)
IW09 Bit 0 (BUSY) This interval is
IW09 Bit 3 (FAIL) not constant.
IW09 Bit 8 (COMPLETE)

 Error Completion
OW08 = 27 (PPRM_WR)
IW08 = 27 (PPRM_WR)
IW09 Bit 0 (BUSY) This interval is
IW09 Bit 3 (FAIL) not constant.
IW09 Bit 8 (COMPLETE)

6-108
 6.2 Motion Command Details
EX_FEED (Jog with External Positioning)

EX_FEED (Jog with External Positioning)

The EX_FEED command starts movement in the specified travel direction at the specified travel speed.
Execute the NOP command to stop the operation.
When the external positioning signal is turned ON during motion, the axis is moved by the external posi-
tioning final travel distance from the current position. If the external positioning signal does not turn ON,
jogging is continued.

Execution and Operating Procedures

1. Make sure that all of the following conditions are met.
No. Execution Condition Confirmation Method
1 There must be no alarms. Both IL02 and IL04 must be 0.
2 The Servomotor’s power must be ON. Bit 1 in IW00 must be 1.
IW08 must be 0 and bit 0 in
3 Motion command execution must be completed.* IW09 must be 0.
* This condition refers to basic command execution. Refer to the following chapter for details on switching
from another command.
Chapter 7 Switching Commands

2. Set the following setting parameters.

• OL46 (External Positioning Final Travel Distance)
• OW04, Bits 4 to 7 (External Positioning Signal Setting)
• OL10 (Speed Reference Setting)
• OW12 (Speed Limit)
• OL14 (Torque/Force Limit)
• OW03, Bits 8 to B (Filter Type Selection)
• OL36 (Linear Acceleration Rate/Acceleration Time Constant)
• OL38 (Linear Deceleration Rate/Deceleration Time Constant)

Information • OL10 can be changed during motion.

• An override of between 0% and 327.67% can be set for OL10.
• If OL36 and OL38 are changed during operation, the specifications of the
SERVOPACK determine whether these changes are applied to acceleration and decelera-

Motion Commands
tion.
• OL14 can be changed at any time. The intended operation may not be achieved if
the set value is too small.

3. Set the OW08 setting parameter (Motion Commands) to 34 to execute the EX_FEED
motion command.

4. Turn the external positioning signal ON. 6

The axis will move the external positioning final travel distance from the position where the signal was
detected and then it will decelerate to a stop.
When the axis stops, bit 8 (Command Execution Completed) in the IW09 monitor parameter will
change to 1 (Normal execution completed) and external positioning will end.

5. Set OW08 to 0 to execute the NOP motion command.

This concludes the jog with external positioning operation.

6-109
 6.2 Motion Command Details
EX_FEED (Jog with External Positioning)

Operating Patterns
The following figure shows the operating pattern when the EX_FEED command is executed.

 Operating Pattern without External Positioning

Speed (%)
Rated speed
(100%)

NOP command
Feed Speed

Position

0
Time (t)
Linear Acceleration Linear Deceleration
Time Constant Time Constant
(OL36) (OL38)

 Operating Pattern with External Positioning

Speed (%)
Rated speed
(100%)

Feed Speed External Positioning

Final Travel Distance

0
Time (t)
Linear Deceleration
Linear Acceleration Time Constant
Time Constant (OL38)
(OL36)

Latch signal (external positioning signal)

Holding
Holding execution of the EX_FEED command is not possible. Bit 0 (Hold Command) in the OW09
setting parameter will be ignored.

Canceling
• To cancel a jogging or external positioning operation, set bit 1 (Cancel Command) in the OW09
setting parameter to 1 (Cancel Command ON).
When bit 1 in OW09 is set to 1, the axis will decelerate to a stop.
The deceleration operation depends on the setting of bits 8 to F (Stop Mode Selection) in the
OW02 setting parameter.
When the axis completely decelerates to a stop, the remaining motion will be canceled and bit 1 (Posi-
tioning Completed) in the IW0C monitor parameter will change to 1 (Within positioning com-
pleted range).
• The jogging operation resumes if bit 1 (Cancel Command) in the OW09 setting parameter is set
to 0 (Cancel Command OFF) during processing of the cancel operation.
• The same operation as the Cancel Command operation will be performed if the motion command code
is changed before external positioning is performed.

6-110
 6.2 Motion Command Details
EX_FEED (Jog with External Positioning)

 Setting Parameters
Register
Name Setting Details
Address
Use this bit to turn the power to the Servomotor ON or OFF.
OW00
Servo ON Set this bit to 1 before setting OW08 to 34 (EX_FEED).
Bit 0
0: Servo OFF, 1: Servo ON
Use this bit to change the speed control loop between PI control and P
OW01
Speed Loop P/PI Switch control.
Bit 3
0: PI control, 1: P control
These bits select the stop method to use when a command is canceled.
OW02 0: Stop according to the Linear Deceleration Rate/Deceleration Time
Stop Mode Selection
Bits 8 to F Constant parameter
1: Stop immediately
OW03 Function Settings 1 Select the speed unit, acceleration/deceleration unit, and filter type.
OW04 External Positioning These bits set the signal to use for external positioning.
Bits 4 to 7 Signal Setting 2: Phase-C pulse, 3: /EXT1, 4: /EXT2, 5: /EXT3
External positioning with jogging is started when this parameter is set
OW08 Motion Commands to 34 (EX_FEED). External positioning with jogging stops and the axis
decelerates to a stop when this parameter is set to 0.
OW09 When this bit is set to 1 (Cancel command ON) during external posi-
Cancel Command
Bit 1 tioning with jogging, the axis will decelerate to a stop.
OW09 Travel Direction for Set the travel direction for external positioning with jogging.
Bit 2 JOG/STEP 0: Forward, 1: Reverse
Set the speed for external positioning with jogging. This parameter can
OL10 Speed Reference Setting be changed during operation. The unit depends on the set value of bits
0 to 3 in OW03.
Set the upper speed limit as a percentage of the rated speed. This value
OW12 Speed Limit is an absolute value. It is used in both the positive and negative direc-
tions.
Set the torque limit for external positioning with jogging. This parame-
OL14 Torque/Force Limit ter can be changed during operation. The unit depends on the set value
of bits C to F in OW03.
This parameter allows the feed speed to be changed without changing
the value of OL10.
Set the value as a percentage of the Speed Reference Setting. This

Motion Commands
OW18 Override parameter can be changed during operation.
Setting range: 0 to 32,767 (0% to 327.67%)
Setting unit: 1 = 0.01%
Example: Setting for 50% = 5,000
Positioning Completion Set this parameter to the value for which bit 1 in IW0C will
OL1E
Width change to 1 (Within positioning completed range).
Set this parameter to the value for which bit 3 in IW0C will
NEAR Signal Output change to 1 (Within near position range). Bit 3 changes to 1 when the 6
OL20
Width absolute value of the difference between the reference position and the
feedback position is within the range that is specified here.
Linear Acceleration
Set the jogging acceleration rate with the acceleration rate or the accel-
OL36 Rate/Acceleration Time
eration time.
Constant
Linear Deceleration
Set the jogging deceleration rate with the deceleration rate or the decel-
OL38 Rate/Deceleration Time
eration time.
Constant
Continued on next page.

6-111
 6.2 Motion Command Details
EX_FEED (Jog with External Positioning)

Continued from previous page.

Register
Name Setting Details
Address
Set the acceleration/deceleration filter time constant. Exponential
acceleration/deceleration or a moving average filter can be selected in
OW3A Filter Time Constant bits 8 to B in OW03. This setting can be changed only when ref-
erence pulse distribution has been completed (i.e., when bit 0 in
IW0C is 1).
External Positioning
OL46 Set the travel distance after the external positioning signal is input.
Final Travel Distance

 Monitor Parameters
Register
Name Monitored Contents
Address
IW00 Running with Servo This bit shows the Servo status for the axis.
Bit 1 ON 0: Stopped, 1: Running with Servo ON
IL02 Warnings This parameter reports the current warning status.
IL04 Alarms This parameter reports the current alarm status.
Motion Command This parameter shows the motion command currently in execution.
IW08
Response Code This parameter is 34 during execution of the EX_FEED command.
This bit changes to 1 (Processing) when cancel processing is being per-
IW09 Command Execution
formed for the EX_FEED command. This bit changes to 0 (Completed)
Bit 0 Flag
when cancel processing has been completed.
IW09 Command Hold This bit is always 0 (Command hold not completed) for the EX_FEED
Bit 1 Completed command.
This bit changes to 1 (Completed with an error) when an error occurs
IW09 during execution of the EX_FEED command. The axis will decelerate to a
Command Error End
Bit 3 stop if it is moving. This bit changes to 0 (Completed normally) when
another command is executed.
IW09 Command Execution This bit is always 0 (Normal execution not completed) for the EX_FEED
Bit 8 Completed command.
This bit changes to 1 (Distribution completed) when the distribution of ref-
IW0C Distribution Com- erence pulses for the movement motion command is completed.
Bit 0 pleted This bit is 0 (Distributing pulses) when the execution of a movement
motion command is in progress.
This bit is 1 (Within positioning completed range) when pulse distribution
IW0C Positioning Com-
is completed and the current position is within the positioning completed
Bit 1 pleted
range. This bit is 0 (Outside positioning completed range) in all other cases.
This bit changes to 0 (Latch not complete) when a new latch command is
IW0C
Latch Completed executed and it changes to 1 (Latch completed) when the latch is com-
Bit 2
pleted. The latched position is reported in IL18.
The operation of this bit depends on the set value of OL20.
If OL20 is 0, this bit is 1 (Within near position range) when reference
pulse distribution is completed (i.e., when DEN is 1), and it is 0 (Outside
near position range) when reference pulse distribution is not completed.
When OL20 is not 0, this bit is 1 when within the range of the fol-
IW0C
Near Position lowing formula, regardless of the state of reference pulse distribution, and 0
Bit 3
in all other cases.
| (IL12) − (IL16) | ≤ OL20
IL12: Machine Coordinate System Reference Position
IL16: Machine Coordinate System Feedback Position
OL20: NEAR Signal Output Width
Machine Coordinate
This parameter stores the current position in the machine coordinate system
IL18 System Latch Posi-
when the latch signal turned ON.
tion

6-112
 6.2 Motion Command Details
EX_FEED (Jog with External Positioning)

Timing Charts
Information For EX_FEED, the value of the OL46 setting parameter (External Positioning Final Travel
Distance) is written to the SERVOPACK parameters before movement. Therefore, there is a slight
time lag before the axis starts moving (refer to the items with asterisks (*) in the following figure).

 Normal Execution
This position is reported.
(IL18)
External Positioning
Final Travel Distance

This interval is not constant.*

OW08 = 34 (EX_FEED)
IW08 = 34 (EX_FEED)
1scan
IW09 Bit 0 (BUSY)
IW09 Bit 3 (FAIL)
IW09 Bit 8 (COMPLETE)
IW0C Bit 0 (DEN)
IW0C Bit 1 (POSCOMP)
Latch signal 1 scan This interval is not constant.
(phase-C, EXT1, EXT2, or EXT3)
IW0C Bit 2 (LCOMP)
(Latch Completed)

 Execution When Canceled

This interval is not constant.*

OW08 = 34 (EX_FEED)
OW09 Bit 1 (ABORT)
IW08 = 34 (EX_FEED)
IW09 Bit 0 (BUSY) 1scan

IW09 Bit 3 (FAIL)

IW09 Bit 8 (COMPLETE)

Motion Commands
IW0C Bit 0 (DEN)
IW0C Bit 1 (POSCOMP)

1 scan This interval is not constant.

 Execution When Command Is Changed

6

This interval is not constant.*

OW08 = 34 (EX_FEED)
IW08 = 34 (EX_FEED)
IW09 Bit 0 (BUSY)
IW09 Bit 3 (FAIL)
IW09 Bit 8 (COMPLETE)
IW0C Bit 0 (DEN)
IW0C Bit 1 (POSCOMP)

1 scan This interval is not constant.

6-113
 6.2 Motion Command Details
EX_FEED (Jog with External Positioning)

 Execution When an Alarm Occurs

This interval is not constant.*

OW08 = 34 (EX_FEED)
IW08 = 34 (EX_FEED)
IW09 Bit 0(BUSY) 1scan

IW09 Bit 3 (FAIL)

IW09 Bit 8 (COMPLETE)
IW0C Bit 0 (DEN)
IW0C Bit 1 (POSCOMP)

1 scan This interval is not constant.

Alarms

External Positioning Final Travel Distance Write Selection

This selection is the same as for External Positioning (EX_POSING). Refer to the following section for
details.
External Positioning Final Travel Distance Write Selection (page 6-18)

6-114
 6.2 Motion Command Details
MEM_RD (Read Memory)

MEM_RD (Read Memory)

The MEM_RD command reads the data in SERVOPACK memory at the specified memory address and
size. The read data is then stored in the IL38 monitor parameter (SERVOPACK Parameter Read
Data). Whether data can be read from memory depends on the product specifications of the SERVO-
PACK. Refer to the relevant SERVOPACK manual for details.

Execution and Operating Procedures

1. Make sure that all of the following conditions are met.
No. Execution Condition Confirmation Method
1 Must be ready for motion operation. Bit 0 in IW00 must be 1.
IW08 must be 0 and bit 0 in
2 Motion command execution must be completed.
IW09 must be 0.

2. Set the following setting parameters.

• OW51 (SERVOPACK Parameter Size)
• OL58 (Address Setting)

Information Make any necessary change to OW51 and OL58 before the MEM_RD command
is executed, or during the same scan that OW08 is set to 35. Do not make these changes
during execution of the MEM_RD command.

3. Set the OW08 setting parameter (Motion Commands) to 35 to execute the MEM_RD
motion command.

4. Set OW08 to 0 to execute the NOP motion command.

This concludes the read memory operation.

Holding and Canceling Commands

Bit 0 (Hold Command) and bit 1 (Cancel Command) in the OW09 setting parameter cannot be used
to stop the axis.

Motion Commands
Related Parameters

 Setting Parameters
Register
Name Setting Details
Address 6
OW08 Motion Commands Set this parameter to 35 (MEM_RD) to read from memory.
OW09
Hold Command This bit is ignored for the MEM_RD command.
Bit 0
OW09
Cancel Command This bit is ignored for the MEM_RD command.
Bit 1
SERVOPACK Parame- Set the size of the data to read from the specified address in words.
OW51
ter Size The valid settings for this parameter are 1 and 2.
Set the starting address to read in the SERVOPACK memory.
OL58 Address Setting The valid address range depends on the product specifications of the
SERVOPACK. Refer to the relevant SERVOPACK manual for details.

6-115
 6.2 Motion Command Details
MEM_RD (Read Memory)

 Monitor Parameters
Register
Name Monitored Contents
Address
IL02 Warnings This parameter reports the current warning status.
IL04 Alarms This parameter reports the current alarm status.
Motion Command This parameter shows the motion command currently in execution.
IW08
Response Code This parameter is 35 during execution of the MEM_RD command.
IW09 Command Execution This bit is 1 (Processing) during execution of the MEM_RD command.
Bit 0 Flag The bit changes to 0 (Completed) when execution ends.
IW09 Command Hold This bit is always 0 (Command hold not completed) for the MEM_RD
Bit 1 Completed command.
This bit changes to 1 (Completed with an error) when an error occurs
IW09 during execution of the MEM_RD command.
Command Error End
Bit 3 The axis will decelerate to a stop if it is moving. This bit changes to 0
(Completed normally) when another command is executed.
IW09 Command Execution This bit changes to 1 (Normal execution completed) when execution of
Bit 8 Completed the MEM_RD command ends.
SERVOPACK This parameter stores the data of the SERVOPACK parameter that was
IL38
Parameter Read Data read.

Timing Charts

 Normal Completion
OW08 = 35 (MEM_RD)
IW08 = 35 (MEM_RD)
IW09 Bit 0 (BUSY) This interval is
IW09 Bit 3 (FAIL) not constant.
IW09 Bit 8 (COMPLETE)

IL38 Undefined value Read results

 Error Completion
OW08 = 35 (MEM_RD)
IW08 = 35 (MEM_RD)
IW09 Bit 0 (BUSY) This interval is
IW09 Bit 3 (FAIL) not constant.
IW09 Bit 8 (COMPLETE)

IL38 Undefined value

6-116
 6.2 Motion Command Details
MEM_WR (Write Memory)

MEM_WR (Write Memory)

The MEM_WR command writes the specified setting data to SERVOPACK memory at the specified
memory address and size.
Whether data can be written to memory depends on the product specifications of the SERVOPACK. Refer
to the relevant SERVOPACK manual for details.

Execution and Operating Procedures

1. Make sure that all of the following conditions are met.
No. Execution Condition Confirmation Method
1 Must be ready for motion operation. Bit 0 in IW00 must be 1.
IW08 must be 0 and bit 0 in
2 Motion command execution must be completed.
IW09 must be 0.

2. Set the following setting parameters.

• OW51 (SERVOPACK Parameter Size)
• OL52 (SERVOPACK Parameter Set Value)
• OL58 (Address Setting)

Information Make any necessary change to OW51, OL52, and OL58 before the
MEM_WR command is executed, or during the same scan that OW08 is set to 36. Do
not make these changes during execution of the MEM_WR command.

3. Set the OW08 setting parameter (Motion Commands) to 36 to execute the MEM_WR
motion command.

4. Set OW08 to 0 to execute the NOP motion command.

This concludes the write memory operation.

Holding and Canceling Commands

Bit 0 (Hold Command) and bit 1 (Cancel Command) in the OW09 setting parameter cannot be used

Motion Commands
to stop the axis.

Related Parameters

 Setting Parameters
Register 6
Name Setting Details
Address
OW08 Motion Commands Set this parameter to 36 (MEM_WR) to write to memory.
OW09
Hold Command This bit is ignored for the MEM_WR command.
Bit 0
OW09
Cancel Command This bit is ignored for the MEM_WR command.
Bit 1
SERVOPACK Parame- Set the size of the data to write to the specified address in words.
OW51
ter Size The valid settings for this parameter are 1 and 2.
SERVOPACK Parame-
OL52 Set the data to write to the specified address.
ter Set Value
Continued on next page.

6-117
 6.2 Motion Command Details
MEM_WR (Write Memory)

Continued from previous page.

Register
Name Setting Details
Address
Set the starting address to write in the SERVOPACK memory.
OL58 Address Setting The valid address range depends on the product specifications of the
SERVOPACK. Refer to the relevant SERVOPACK manual for details.

 Monitor Parameters
Register
Name Monitored Contents
Address
IL02 Warnings This parameter reports the current warning status.
IL04 Alarms This parameter reports the current alarm status.
Motion Command This parameter shows the motion command currently in execution.
IW08
Response Code This parameter is 36 during execution of the MEM_WR command.
IW09 Command Execution This bit is 1 (Processing) during execution of the MEM_WR command.
Bit 0 Flag The bit changes to 0 (Completed) when execution ends.
IW09 Command Hold This bit is always 0 (Command hold not completed) for the MEM_WR
Bit 1 Completed command.
This bit changes to 1 (Completed with an error) when an error occurs
IW09 during execution of the MEM_WR command.
Command Error End
Bit 3 The axis will decelerate to a stop if it is moving. This bit changes to 0
(Completed normally) when another command is executed.
IW09 Command Execution This bit changes to 1 (Normal execution completed) when execution of the
Bit 8 Completed MEM_WR command ends.

Timing Charts

 Normal Completion
OW08 = 36 (MEM_WR)
IW08 = 36 (MEM_WR)
IW09 Bit 0 (BUSY) This interval is
IW09 Bit 3 (FAIL) not constant.
IW09 Bit 8 (COMPLETE)

 Error Completion
OW08 = 36 (MEM_WR)
IW08 = 36 (MEM_WR)
IW09 Bit 0 (BUSY) This interval is
IW09 Bit 3 (FAIL) not constant.
IW09 Bit 8 (COMPLETE)

6-118
 6.2 Motion Command Details
PMEM_RD (Read Non-volatile Memory)

PMEM_RD (Read Non-volatile Memory)

The PMEM_RD command reads the data in SERVOPACK non-volatile memory at the specified memory
address and size. The read data is then stored in the IL38 monitor parameter (SERVOPACK Param-
eter Read Data).

Information Whether data can be read from non-volatile memory depends on the product specifications of the
SERVOPACK. Refer to the relevant SERVOPACK manual for details.

Execution and Operating Procedures

1. Make sure that all of the following conditions are met.
No. Execution Condition Confirmation Method
1 Must be ready for motion operation. Bit 0 in IW00 must be 1.
IW08 must be 0 and bit 0 in
2 Motion command execution must be completed.
IW09 must be 0.

2. Set the following setting parameters.

• OW51 (SERVOPACK Parameter Size)
• OL58 (Address Setting)

Information Make any necessary change to OW51 and OL58 before the PMEM_RD com-
mand is executed, or during the same scan that OW08 is set to 37. Do not make these
changes during execution of the PMEM_RD command.

3. Set the OW08 setting parameter (Motion Commands) to 37 to execute the PMEM_RD
motion command.

4. Set OW08 to 0 to execute the NOP motion command.

This concludes the read from non-volatile memory operation.

Holding and Canceling Commands

Bit 0 (Hold Command) and bit 1 (Cancel Command) in the OW09 setting parameter cannot be used

Motion Commands
to stop the axis.

Related Parameters

 Setting Parameters
6
Register
Name Setting Details
Address
Set this parameter to 37 (PMEM_RD) to read from non-volatile mem-
OW08 Motion Commands
ory.
OW09
Hold Command This bit is ignored for the PMEM_RD command.
Bit 0
OW09
Cancel Command This bit is ignored for the PMEM_RD command.
Bit 1
SERVOPACK Parame- Set the size of the data to read from the specified address in words.
OW51
ter Size The valid settings for this parameter are 1 and 2.
Set the starting address to read in the SERVOPACK memory.
OL58 Address Setting The valid address range depends on the product specifications of the
SERVOPACK. Refer to the relevant SERVOPACK manual for details.

6-119
 6.2 Motion Command Details
PMEM_RD (Read Non-volatile Memory)

 Monitor Parameters
Register
Name Monitored Contents
Address
IL02 Warnings This parameter reports the current warning status.
IL04 Alarms This parameter reports the current alarm status.
Motion Command This parameter shows the motion command currently in execution.
IW08
Response Code This parameter is 37 during execution of the PMEM_RD command.
IW09 Command Execution This bit is 1 (Processing) during execution of the PMEM_RD command.
Bit 0 Flag The bit changes to 0 (Completed) when execution ends.
IW09 Command Hold This bit is always 0 (Command hold not completed) for the PMEM_RD
Bit 1 Completed command.
This bit changes to 1 (Completed with an error) when an error occurs
IW09 during execution of the PMEM_RD command.
Command Error End
Bit 3 The axis will decelerate to a stop if it is moving. This bit changes to 0
(Completed normally) when another command is executed.
IW09 Command Execution This bit changes to 1 (Normal execution completed) when execution of the
Bit 8 Completed PMEM_RD command ends.
SERVOPACK
IL38 This parameter stores the data read from the specified address.
Parameter Read Data

Timing Charts

 Normal Completion
OW08 = 37 (PMEM_RD)
IW08 = 37 (PMEM_RD)
IW09 Bit 0 (BUSY) This interval is
IW09 Bit 3 (FAIL) not constant.
IW09 Bit 8 (COMPLETE)

IL38 Undefined value Read results

 Error Completion
OW08 = 37 (PMEM_RD)
IW08 = 37 (PMEM_RD)
IW09 Bit 0 (BUSY) This interval is
IW09 Bit 3 (FAIL) not constant.
IW09 Bit 8 (COMPLETE)

IL38 Undefined value

6-120
 6.2 Motion Command Details
PMEM_WR (Write Non-volatile Memory)

PMEM_WR (Write Non-volatile Memory)

The PMEM_WR command writes the specified setting data to SERVOPACK non-volatile memory at the
specified memory address and size.

Information Whether data can be written to non-volatile memory depends on the product specifications of the
SERVOPACK. Refer to the relevant SERVOPACK manual for details.

Execution and Operating Procedures

1. Make sure that all of the following conditions are met.
No. Execution Condition Confirmation Method
1 Must be ready for motion operation. Bit 0 in IW00 must be 1.
IW08 must be 0 and bit 0 in
2 Motion command execution must be completed.
IW09 must be 0.

2. Set the following setting parameters.

• OW51 (SERVOPACK Parameter Size)
• OL52 (SERVOPACK Parameter Set Value)
• OL58 (Address Setting)

Information Make any necessary change to OW51, OL52, and OL58 before the
PMEM_WR command is executed, or during the same scan that OW08 is set to 38. Do
not make these changes during execution of the PMEM_WR command.

3. Set the OW08 setting parameter (Motion Commands) to 38 to execute the PMEM_WR
motion command.

4. Set OW08 to 0 to execute the NOP motion command.

This concludes the process for writing to non-volatile memory.

Holding and Canceling Commands

Bit 0 (Hold Command) and bit 1 (Cancel Command) in the OW09 setting parameter cannot be used

Motion Commands
to stop the axis.

Related Parameters

 Setting Parameters
6
Register
Name Setting Details
Address
OW08 Motion Commands Set this parameter to 38 (PMEM_WR) to write to memory.
OW09
Hold Command This bit is ignored for the PMEM_WR command.
Bit 0
OW09
Cancel Command This bit is ignored for the PMEM_WR command.
Bit 1
SERVOPACK Parame- Set the size of the data to write to the specified address in words.
OW51
ter Size The valid settings for this parameter are 1 and 2.
SERVOPACK Parame-
OL52 Set the data to write to the specified address.
ter Set Value
Continued on next page.

6-121
 6.2 Motion Command Details
PMEM_WR (Write Non-volatile Memory)

Continued from previous page.

Register
Name Setting Details
Address
Set the starting address to write in the SERVOPACK memory.
OL58 Address Setting The valid address range depends on the product specifications of the
SERVOPACK. Refer to the relevant SERVOPACK manual for details.

 Monitor Parameters
Register
Name Monitored Contents
Address
IL02 Warnings This parameter reports the current warning status.
IL04 Alarms This parameter reports the current alarm status.
Motion Command This parameter shows the motion command currently in execution.
IW08
Response Code This parameter is 38 during execution of the PMEM_WR command.
IW09 Command Execution This bit is 1 (Processing) during execution of the PMEM_WR command.
Bit 0 Flag The bit changes to 0 (Completed) when execution ends.
IW09 Command Hold This bit is always 0 (Command hold not completed) for the PMEM_WR
Bit 1 Completed command.
This bit changes to 1 (Completed with an error) when an error occurs
IW09 during execution of the PMEM_WR command.
Command Error End
Bit 3 The axis will decelerate to a stop if it is moving. This bit changes to 0
(Completed normally) when another command is executed.
IW09 Command Execution This bit changes to 1 (Normal execution completed) when execution of the
Bit 8 Completed PMEM_WR command ends.

Timing Charts

 Normal Completion
OW08 = 36 (MEM_WR)
IW08 = 36 (MEM_WR)
IW09 Bit 0 (BUSY) This interval is
IW09 Bit 3 (FAIL) not constant.
IW09 Bit 8 (COMPLETE)

 Error Completion
OW08 = 36 (MEM_WR)
IW08 = 36 (MEM_WR)
IW09 Bit 0 (BUSY) This interval is
IW09 Bit 3 (FAIL) not constant.
IW09 Bit 8 (COMPLETE)

6-122
 6.3 Motion Subcommands

6.3 Motion Subcommands

The following table lists the motion subcommands that are supported by the SVC or SVC32 Function
Module.
Refer to the pages listed in the Reference Column for details on individual commands.
Com-
mand Command Name Introduction Reference
Code
This is a null command. NOP (No Com-
0 NOP No Command When you do not want to execute a sub- mand) (page 6-
command, set this command code. 124)
PRM_RD
This command reads the specified
(Read SERVO-
Read SERVOPACK SERVOPACK parameter and reports
1 PRM_RD PACK Parame-
Parameter contents of the parameter to the monitor
ter) (page 6-
parameters.
125)
PRM_WR
(Write SERVO-
Write SERVOPACK This command changes the set value of
2 PRM_WR PACK Parame-
Parameter the specified SERVOPACK parameter.
ter) (page 6-
128)
INF_RD (Read
Read Device Informa- This command reads information on the Device Infor-
3 INF_RD
tion specified device. mation) (page
6-130)
This command reports the status of the SMON (Moni-
4 SMON Monitor Status SERVOPACK to the monitor parame- tor Status)
ters. (page 6-132)
This command reads the current value FIXPRM_RD
of the specified fixed parameter and (Read Fixed
5 FIXPRM_RD Read Fixed Parameter
reports the contents of the parameter to Parameter)
the monitor parameters. (page 6-134)
FIX-
PRM_CHG
This command changes the set value of
6 FIXPRM_CHG Change Fixed Parameter (Change Fixed
a specific fixed parameter.

Motion Commands
Parameter)
(page 6-136)

6-123
 6.4 Motion Subcommand Details
NOP (No Command)

6.4 Motion Subcommand Details

This section describes the details of the MP3000-series motion subcommands.

NOP (No Command)

Set this subcommand when you do not want to specify a subcommand.
The User Monitor 4 parameter can be used with this subcommand just as with the SMON (Status Monitor)
subcommand. Refer to the following section for details.
SMON (Monitor Status) (page 6-132)

Related Parameters

 Setting Parameters
Register
Name Setting Details
Address
Motion Subcom-
OW0A Set this parameter to 0 for the NOP command.
mands
SERVOPACK User
OW4E Set the information managed by the SERVOPACK to monitor.
Monitor Setting

 Monitor Parameters
Register
Name Monitored Contents
Address
Motion Subcom- This parameter shows the motion subcommand that is currently in execu-
IW0A mand Response tion.
Code This parameter is 0 during execution of the NOP command.
IW0B Command Execu- This bit is 1 (Processing) during execution of the NOP command. The bit
Bit 0 tion Flag changes to 0 (Completed) when execution ends.
This bit changes to 1 (Completed with an error) when an error occurs during
IW0B
Command Error End execution of the NOP command. This bit changes to 0 (Completed nor-
Bit 3
mally) when another command is executed.
IW0B Command Execu- This bit changes to 1 (Normal execution completed) when execution of the
Bit 8 tion Completed* NOP command ends.
SERVOPACK User
IW2F This parameter reports which data the user is actually monitoring.
Monitor Information
SERVOPACK User
IL34 This parameter reports the result of the selected monitor.
Monitor 4
* The subcommand status of the NOP command (Command Execution Completed) is invalid.

6-124
 6.4 Motion Subcommand Details
PRM_RD (Read SERVOPACK Parameter)

PRM_RD (Read SERVOPACK Parameter)

The PRM_RD subcommand reads the set value from the SERVOPACK RAM of the SERVOPACK
parameter that corresponds to the specified parameter number and parameter size. The read value is then
stored in the IW37 (Auxiliary SERVOPACK Parameter Number) and IL3A (Auxiliary SER-
VOPACK Parameter Read Data) monitor parameters.
Two types of SERVOPACK parameters can be read with this command: vendor-specific parameters,
which are vendor-specific specifications for the particular Servo product used, and Servo common param-
eters, which are defined in the MECHATROLINK-III communications specifications. Set bit 8 (SERVO-
PACK Parameter Access Selection) in the OW09 setting parameter to select which type of
SERVOPACK parameter to read.

Execution and Operating Procedures

1. Make sure that the following condition is met.
No. Execution Condition Confirmation Method
Execution of motion subcommands must be com- IW0A must be 0 and bit 0 in
1
pleted. IW0B must be 0.

2. Set the following setting parameters.

• OW09, Bit 8 (SERVOPACK Parameter Access Selection)
• OW54 (Auxiliary SERVOPACK Parameter Number)
• OW55 (Auxiliary SERVOPACK Parameter Size)

3. Set the OW0A setting parameter (Motion Subcommands) to 1 to execute the PRM_RD
motion subcommand.
The PRM_RD command reads the SERVOPACK parameter and stores the contents in the monitor parame-
ters.
The IW0A monitor parameter (Motion Subcommand Response Code) is 1 during execution of this
command.
During command processing, bit 0 (Command Execution Flag) in the IW0B monitor parameter will
change to 1 (Processing). When processing is completed, this bit will change to 0 (Completed).

4. Set OW0A to 0 to execute the NOP motion subcommand.

Motion Commands
This concludes the process for reading SERVOPACK parameters.

6-125
 6.4 Motion Subcommand Details
PRM_RD (Read SERVOPACK Parameter)

Related Parameters

 Setting Parameters
Register
Name Setting Details
Address
Use this bit to select the parameter to read.
OW09 SERVOPACK Parame-
0: Vendor-specific parameters
Bit 8 ter Access Selection
1: Common parameters
OW0A Motion Subcommands Set this parameter to 1 (PRM_RD) to read a SERVOPACK parameter.
Auxiliary SERVO-
OW54 PACK Parameter Num- Set the number of the SERVOPACK parameter to read.
ber
Set the size of the SERVOPACK parameter to read.
Set the size in words.
Auxiliary SERVO-
OW55 Setting Precautions
PACK Parameter Size
The SERVOPACK user manual lists the sizes in bytes, so those values
must be converted to words.

 Monitor Parameters
Register
Name Monitored Contents
Address
This parameter shows the motion subcommand that is currently in exe-
Motion Subcommand
IW0A cution.
Response Code
This parameter is 1 during execution of the PRM_RD command.
IW0B Command Execution This bit is 1 (Processing) during execution of the PRM_RD command.
Bit 0 Flag The bit changes to 0 (Completed) when execution ends.
This bit changes to 1 (Completed with an error) when an error occurs
IW0B
Command Error End during execution of the PRM_RD command. This bit changes to 0
Bit 3
(Completed normally) when another command is executed.
IW0B Command Execution This bit changes to 1 (Normal execution completed) when execution of
Bit 8 Completed the PRM_RD command ends.
Auxiliary SERVO-
This parameter stores the number of the SERVOPACK parameter that
IW37 PACK Parameter Num-
was read.
ber
Auxiliary SERVO-
This parameter stores the data of the SERVOPACK parameter that was
IL3A PACK Parameter Read
read.
Data

6-126
 6.4 Motion Subcommand Details
PRM_RD (Read SERVOPACK Parameter)

Timing Charts

 Normal Completion
OW0A = 1 (PRM_RD)
IW0A = 1 (PRM_RD)
IW0B Bit 0 (BUSY) This interval is
not constant.
IW0B Bit 3 (FAIL)
IW0B Bit 8 (COMPLETE)
1 scan
IW37
Undefined value Parameter number
IL3A
Undefined value Parameter

 Error Completion
OW0A = 1 (PRM_RD)
IW0A = 1 (PRM_RD)
IW0B Bit 0 (BUSY) This interval is
IW0B Bit 3 (FAIL) not constant.
IW0B Bit 8 (COMPLETE)
IW37 Undefined value
IL3A Undefined value

Motion Commands

6-127
 6.4 Motion Subcommand Details
PRM_WR (Write SERVOPACK Parameter)

PRM_WR (Write SERVOPACK Parameter)

The PRM_WR subcommand overwrites the setting of a SERVOPACK parameter using the specified
parameter number, parameter size, and set value data. The data is written to the SERVOPACK RAM.
Two types of SERVOPACK parameters can be written with this command: vendor-specific parameters,
which are vendor-specific specifications for the particular Servo product used, and Servo common param-
eters, which are defined in the MECHATROLINK-III communications specifications. Set bit 8 (SERVO-
PACK Parameter Access Selection) in the OW09 setting parameter to select which type of
SERVOPACK parameter to write.

Execution and Operating Procedures

1. Make sure that all of the following conditions are met.
No. Execution Condition Confirmation Method
Execution of motion subcommands must be com- IW0A must be 0 and bit 0 in
1
pleted. IW0B must be 0.
OW54, OW55, and OL56 must
2 Refer to the list of setting parameters below.
all be set.

2. Set the following setting parameters.

• OW09, Bit 8 (SERVOPACK Parameter Access Selection)
• OW54 (Auxiliary SERVOPACK Parameter Number)
• OW55 (Auxiliary SERVOPACK Parameter Size)
• OL56 (Auxiliary SERVOPACK Parameter Set Value)

3. Set the OW0A setting parameter (Motion Subcommands) to 2 to execute the PRM_WR
motion subcommand.
The SERVOPACK parameter is overwritten.
The IW0A monitor parameter (Motion Subcommand Response Code) is 2 during execution of this
command.
During command processing, bit 0 (Command Execution Flag) in the IW0B monitor parameter will
change to 1 (Processing). When processing is completed, this bit will change to 0 (Completed).

4. Set OW0A to 0 to execute the NOP motion subcommand.

This concludes the process for writing SERVOPACK parameters.

Related Parameters

 Setting Parameters
Register
Name Setting Details
Address
Use this bit to select the parameter to write.
OW09 SERVOPACK Parame-
0: Vendor-specific parameters
Bit 8 ter Access Selection
1: Common parameters
OW0A Motion Subcommands Set this parameter to 2 (PRM_WR) to write a SERVOPACK parameter.
Auxiliary SERVO-
OW54 PACK Parameter Num- Set the number of the SERVOPACK parameter to write.
ber
Continued on next page.

6-128
 6.4 Motion Subcommand Details
PRM_WR (Write SERVOPACK Parameter)

Continued from previous page.

Register
Name Setting Details
Address
Set the size of the SERVOPACK parameter to write.
Set the size in words.
Auxiliary SERVO-
OW55 Setting Precautions
PACK Parameter Size
The SERVOPACK user manual lists the parameter sizes in bytes, so
those values must be converted to words.
Auxiliary SERVO-
OL56 PACK Parameter Set Set the set value data to write to the target SERVOPACK parameter.
Value

 Monitor Parameters
Register
Name Monitored Contents
Address
This parameter shows the motion subcommand that is currently in execu-
Motion Subcommand
IW0A tion.
Response Code
This parameter is 2 during execution of the PRM_WR command.
IW0B Command Execution This bit is 1 (Processing) during execution of the PRM_WR command.
Bit 0 Flag The bit changes to 0 (Completed) when execution ends.
This bit changes to 1 (Completed with an error) when an error occurs
IW0B during execution of the PRM_WR command.
Command Error End
Bit 3 This bit changes to 0 (Completed normally) when another command is
executed.
IW0B Command Execution This bit changes to 1 (Normal execution completed) when execution of
Bit 8 Completed the PRM_WR command ends.
Auxiliary SERVO-
This parameter reports the number of the SERVOPACK parameter that
IW37 PACK Parameter Num-
was written.
ber

Timing Charts

 Normal Completion

Motion Commands
OW0A = 2 (PRM_WR)
IW0A = 2 (PRM_WR)
IW0B Bit 0 (BUSY) This interval is
IW0B Bit 3 (FAIL) not constant.
IW0B Bit 8 (COMPLETE)

 Error Completion 6
OW0A = 2 (PRM_WR)
IW0A = 2 (PRM_WR)
IW0B Bit 0 (BUSY) This interval is
IW0B Bit 3 (FAIL) not constant.
IW0B Bit 8 (COMPLETE)

6-129
 6.4 Motion Subcommand Details
INF_RD (Read Device Information)

INF_RD (Read Device Information)

The INF_RD subcommand reports the device information of the connected MECHATROLINK-III Servo
Drive to the monitor parameters.
The target information is specified in the OW5B setting parameter (Device Information Selection
Code).

Execution and Operating Procedures

1. Make sure that all of the following conditions are met.
No. Execution Condition Confirmation Method
1 Must be ready for motion operation. Bit 0 in IW00 must be 1.
IW08 must be 0 and bit 0 in
2 Motion command execution must be completed.
IW09 must be 0.

2. Set the OW5B setting parameter (Device Information Selection Code).

3. Set the OW0A setting parameter (Motion Subcommands) to 3 to execute the INF_RD
motion subcommand.
The device information is reported in the monitor parameters.

4. Set OW0A to 0 to execute the NOP motion subcommand.

This concludes the read device information operation.

Related Parameters

 Setting Parameters
Register
Name Setting Details
Address
OW0A Motion Subcommands Set this parameter to 3 (INF_RD) to read device information.
Select the device information to read. You can select the following
devices.
00 hex: Disabled
Device Information 01 hex: Vendor ID code
OW5B
Selection Code 02 hex: Device code
03 hex: Device version
04 hex: Device information file version
05 hex: Serial number

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 6.4 Motion Subcommand Details
INF_RD (Read Device Information)

 Monitor Parameters
Register
Name Monitored Contents
Address
Motion Subcommand This parameter shows the motion subcommand currently in execution.
IW0A
Response Code This parameter is 3 during execution of the INF_RD command.
IW0B Command Execution
This bit changes to 0 (Completed) when the INF_RD operation will end.
Bit 0 Flag
This bit changes to 1 (Completed with an error) when an error occurs
IW0B during execution of the INF_RD command.
Command Error End
Bit 3 This bit changes to 0 (Completed normally) when another command is
executed.
IW0B Command Execution This bit changes to 1 (Normal execution completed) when execution of
Bit 8 Completed the INF_RD command ends.
This parameter reports the code that was read.
00 hex: Disabled
01 hex: Vendor ID code
Device Information
IW5B 02 hex: Device code
Monitor Code
03 hex: Device version
04 hex: Device information file version
05 hex: Serial number
Information that is read is reported in these registers.
01 hex: Vendor ID code (2 words)
IW70
Device Information 02 hex: Device code (2 words)
to
Monitor Data 1 to 16 03 hex: Device version (2 words)
IW7F
04 hex: Device information file version (2 words)
05 hex: Serial number (16 words)

Timing Charts

 Normal Completion

OW0A = 3 (INF_RD)
IW0A = 3 (INF_RD)

Motion Commands
IW0B Bit 0 (BUSY)
IW0B Bit 3 (FAIL)
IW0B Bit 8 (COMPLETE)

IW5B Undefined Specified code

IW70 to IW7F Undefined Read results

6
 Error Completion

OW0A = 3 (INF_RD)
IW0A = 3 (INF_RD)
IW0B Bit 0 (BUSY)
IW0B Bit 3 (FAIL)
IW0B Bit 8 (COMPLETE)

IW5B Undefined

IW70 to IW7F Undefined

6-131
 6.4 Motion Subcommand Details
SMON (Monitor Status)

SMON (Monitor Status)

The SMON subcommand reports the data specified in Monitor 4 of the OW4E setting parameter
(SERVOPACK User Monitor Setting) in the IL34 monitor parameter (SERVOPACK User Monitor
4).
The following table lists the data that can be specified in the User Monitor Setting parameter.
Set Value Name Description
0 APOS Feedback position
1 MPOS Reference position
2 PERR Position deviation
3 LPOS1 Latch position 1
4 LPOS2 Latch position 2
5 FSPD Feedback Speed
6 CSPD Reference Speed
7 TRQ Torque/force reference
8 ALARM Detailed information on the first alarm
9 − Reserved for system.
A − Reserved for system.
B − Reserved for system.
C CMN1 Common monitor 1
D CMN2 Common monitor 2
Optional monitor 1 (Depends on the specifications of the
E OMN1
product used.)
Optional monitor 2 (Depends on the specifications of the
F OMN2
product used.)

1. Refer to the relevant SERVOPACK user’s manual for details on the contents that you can monitor.
2. Some settings cannot be monitored for some SERVOPACK models.
Note

Execution and Operating Procedures

1. Make sure that the following condition is met.
No. Execution Condition Confirmation Method
Execution of motion subcommands must be com- IW0A must be 0 and bit 0 in
1
pleted. IW0B must be 0.

2. Set the OW0A setting parameter (Motion Subcommands) to 4 to execute the SMON motion
subcommand.
The information managed by the SERVOPACK is read and the code is stored in the monitor parameter.
The IW0A monitor parameter (Motion Subcommand Response Code) is 4 during execution of this
command.
During command processing, bit 0 (Command Execution Flag) in the IW0B monitor parameter will
change to 1 (Processing). When processing is completed, this bit will change to 0 (Completed).

3. Set OW0A to 0 to execute the NOP motion subcommand.

This concludes the monitor status operation.

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 6.4 Motion Subcommand Details
SMON (Monitor Status)

Related Parameters

 Setting Parameters
Register
Name Setting Details
Address
Set this parameter to 4 (SMON) to execute the monitor status subcom-
OW0A Motion Subcommands
mand.
SERVOPACK User
OW4E Set the information managed by the SERVOPACK to monitor.
Monitor Setting

 Monitor Parameters
Register
Name Monitored Contents
Address
This parameter shows the motion subcommand that is currently in execu-
Motion Subcommand
IW0A tion.
Response Code
This parameter is 4 during execution of the SMON command.
IW0B Command Execution This bit is 1 (Processing) during execution of the SMON command. The
Bit 0 Flag bit changes to 0 (Completed) when execution ends.
This bit changes to 1 (Completed with an error) when an error occurs
IW0B
Command Error End during execution of the SMON command. This bit changes to 0 (Com-
Bit 3
pleted normally) when another command is executed.
IW0B Command Execution This bit changes to 1 (Normal execution completed) when execution of
Bit 8 Completed the SMON command ends.
SERVOPACK User
IW2F This parameter reports which data the user is actually monitoring.
Monitor Information
SERVOPACK User
IL34 This parameter reports the result of the selected monitor.
Monitor 4

Timing Charts
OW0A = 4 (SMON)
IW0A = 4 (SMON)

Motion Commands
IW0B Bit 0 (BUSY)
IW0B Bit 3 (FAIL)
IW0B Bit 8 (COMPLETE)
IW2F Bit C to F Undefined value Monitor 4 = Set value
IL34 Undefined value Monitor results

6-133
 6.4 Motion Subcommand Details
FIXPRM_RD (Read Fixed Parameter)

FIXPRM_RD (Read Fixed Parameter)

The current value of the fixed parameter that is specified in the OW5C setting parameter (Fixed
Parameter Number) is reported in the IL56 monitor parameter (Fixed Parameter Monitor).

Execution and Operating Procedures

1. Make sure that the following condition is met.
No. Execution Condition Confirmation Method
Execution of motion subcommands must be com- IW0A must be 0 and bit 0 in
1
pleted. IW0B must be 0.

2. Set the OW5C setting parameter (Fixed Parameter Number).

3. Set the OW0A setting parameter (Motion Subcommands) to 5 to execute the FIXPRM_RD
motion subcommand.
The current value of the specified fixed parameter is read, and the code is stored in the monitor parameter.
The IW0A monitor parameter (Motion Subcommand Response Code) is 5 during execution of this
command.
During command processing, bit 0 in the IW0B monitor parameter will change to 1 (Processing).
When processing is completed, this bit will change to 0 (Completed).

4. Set OW0A to 0 to execute the NOP motion subcommand.

This concludes the read fixed parameter operation.

Related Parameters

 Setting Parameters
Register
Name Setting Details
Address
Motion Subcom-
OW0A Set this parameter to 5 (FIXPRM_RD) to read a fixed parameter.
mands
Fixed Parameter
OW5C Set the number of the fixed parameter to read.
Number

 Monitor Parameters
Register
Name Monitored Contents
Address
This parameter shows the motion subcommand that is currently in execu-
Motion Subcom-
IW0A tion.
mand Response Code
This parameter is 5 during execution of the FIXPRM_RD command.
IW0B Command Execution This bit is 1 (Processing) during execution of the FIXPRM_RD command.
Bit 0 Flag The bit changes to 0 (Completed) when execution ends.
This bit changes to 1 (Completed with an error) when an error occurs
IW0B
Command Error End during execution of the FIXPRM_RD command. This bit changes to 0
Bit 3
(Completed normally) when another command is executed.
IW0B Command Execution This bit changes to 1 (Normal execution completed) when execution of the
Bit 8 Completed FIXPRM_RD command ends.
Fixed Parameter This parameter reports the fixed parameter data for the specified fixed
IL56
Monitor parameter number.

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 6.4 Motion Subcommand Details
FIXPRM_RD (Read Fixed Parameter)

Timing Charts

 Normal Completion
OW0A = 5 (FIXPRM_RD)
IW0A = 5 (FIXPRM_RD)
IW0B Bit 0 (BUSY)
IW0B Bit 3 (FAIL)
IW0B Bit 8 (COMPLETE)
IL56 Undefined value Monitor results

 Error Completion
OW0A = 5 (FIXPRM_RD)
IW0A = 5 (FIXPRM_RD)
IW0B Bit 0 (BUSY)
IW0B Bit 3 (FAIL)
IW0B Bit 8 (COMPLETE)
IL56 Undefined value

Motion Commands

6-135
 6.4 Motion Subcommand Details
FIXPRM_CHG (Change Fixed Parameter)

FIXPRM_CHG (Change Fixed Parameter)

You can use FIXPRM_CHG subcommand to change the value of some of the fixed parameters from a user
application. The results of the change are immediately applied when execution of the command ends.
The FIXPRM_CHG subcommand changes only the values in RAM. Therefore, any changes made are lost
when the power supply to the Machine Controller is turned OFF and ON again, or when data is saved on
the Fixed Parameters Tab Page.
Furthermore, any changes that are made cannot be viewed on the MPE720. Use the FIXPRM_RD (Read
Fixed Parameter) motion subcommand to confirm any changes that are made to fixed parameters with this
motion subcommand.
The FIXPRM_CHG command can be used to change the following fixed parameters:
No. Name Setting Range Setting Unit Default
31 31
12 Positive Software Limit −2 to 2 −1 Reference units 231−1
14 Negative Software Limit −231 to 231−1 Reference units −231

Execution and Operating Procedures

1. Make sure that the following condition is met.
No. Execution Condition Confirmation Method
Execution of motion subcommands must be com- IW0A must be 0 and bit 0 in
1
pleted. IW0B must be 0.

2. Set the following setting parameters.

• OW54 (Auxiliary SERVOPACK Parameter Number)
• OL56 (Auxiliary SERVOPACK Parameter Set Value)
•

Information • OW54 and OL56 are normally used to set SERVOPACK parameter informa-
tion, but for the FIXPRM_CHG subcommand, these parameters are used to set the fixed
parameter information.
• An attempt to use this command to change any fixed parameters other than those listed in
the above table will result in a Command Error End (i.e., bit 3 in IW09 will change to
1).

3. Set the OW0A setting parameter (Motion Subcommands) to 6 to execute the FIX-
PRM_CHG motion subcommand.
The IW0A monitor parameter (Motion Subcommand Response Code) is 6 during execution of this
command.

4. Set OW0A to 0 to execute the NOP motion subcommand.

This concludes the change fixed parameter operation.

6-136
 6.4 Motion Subcommand Details
FIXPRM_CHG (Change Fixed Parameter)

Related Parameters

 Setting Parameters
Register
Name Setting Details
Address
OW0A Motion Subcommands Set this parameter to 6 (FIXPRM_CHG) to read a fixed parameter.
Auxiliary SERVO-
OW54 PACK Parameter Num- Set the number of the fixed parameter to change.
ber
Auxiliary SERVO-
OL56 PACK Parameter Set Set the new value for the target fixed parameter.
Value

 Monitor Parameters
Register
Name Monitored Contents
Address
This parameter shows the motion subcommand that is currently in execu-
Motion Subcommand
IW0A tion.
Response Code
This parameter is 6 during execution of the FIXPRM_CHG command.
IW0B Command Execution
This bit is always 0 (Completed) for the FIXPRM_CHG command.
Bit 0 Flag
This bit changes to 1 (Completed with an error) when an error occurs
IW0B
Command Error End during execution of the FIXPRM_CHG command. This bit changes to 0
Bit 3
(Completed normally) when another command is executed.
IW0B Command Execution This bit changes to 1 (Normal execution completed) when execution of
Bit 8 Completed the FIXPRM_CHG command ends.
Auxiliary SERVO-
IW37 PACK Parameter Num- This parameter reports the number of the fixed parameter to change.
ber

Timing Charts

Motion Commands
 Normal Completion
OW0A = 6 (FIXPRM_CHG)

IW0A = 6 (FIXPRM_CHG)

IW0B Bit 0 (BUSY)

IW0B Bit 3 (FAIL)

6
IW0B Bit 8 (COMPLETE)

IW37 Undefined value Fixed Parameter Number

6-137
 6.4 Motion Subcommand Details
FIXPRM_CHG (Change Fixed Parameter)

 Error Completion
OW0A = 6 (FIXPRM_CHG)

IW0A = 6 (FIXPRM_CHG)

IW0B Bit 0 (BUSY)

IW0B Bit 3 (FAIL)

IW0B Bit 8 (COMPLETE)

IW37 Undefined value

6-138
 7
Switching Commands

This chapter describes the commands and subcommands that can

be switched during execution and how the axis is affected when
this occurs.

7.1 Motion Command and Subcommand Execution Judgment Table . . 7-2

SVC and SVC32 Motion Command Execution
Judgment Table . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-2
SVC and SVC32 Motion Subcommand Execution
Judgment Table . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-4
SVR and SVR32 Motion Command Execution
Judgment Table . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-5

7.2 Switching Motion Commands . . . . . . . . . . . . . . . 7-6

Switching from the POSING Motion Command . . . . . . . . . . . 7-7
Switching from the EX_POSING Motion Command . . . . . . . 7-11
Switching from the ZRET Motion Command . . . . . . . . . . . . 7-15
Switching from the INTERPOLATE Motion Command . . . . . 7-19
Switching from the ENDOF_INTERPOLATE
or LATCH Motion Command . . . . . . . . . . . . . . . . . . . . . . . . 7-23
Switching from the FEED Motion Command . . . . . . . . . . . . 7-24
Switching from the STEP Motion Command . . . . . . . . . . . . 7-29
Switching from the ZSET Motion Command . . . . . . . . . . . . 7-33
Switching from the VELO Motion Command . . . . . . . . . . . . 7-34
Switching from the TRQ Motion Command . . . . . . . . . . . . . 7-39
Switching from the PHASE Motion Command . . . . . . . . . . . 7-44
Switching from the EX_FEED Motion Command . . . . . . . . . 7-48
 7.1 Motion Command and Subcommand Execution Judgment Table
SVC and SVC32 Motion Command Execution Judgment Table

7.1 Motion Command and Subcommand Execution Judgment Table

This section provides execution judgment tables for SVC and SVC32 motion commands and subcom-
mands and SVR and SVR32 motion commands.

SVC and SVC32 Motion Command Execution Judgment Table

The following table shows which motion commands can be switched to another motion command during
execution.
New Command
Current
Code

Command 0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15
NOP POS EX_P ZRET INTE ENDO LATC FEED STEP ZSET ACC DCC SCC CHG KVS KPS
0 NOP −               
1 POSING × −   × × ×  ×  × × × ×  
2 EX_POSING × Δ −  × × ×  × Δ × × × × Δ Δ
3 ZRET × × × − × × × × × × × × × × × ×
INTERPO-
4     −           
LATE
ENDOF_
5 INTERPO-      −          
LATE
6 LATCH       −         
7 FEED × Δ Δ  × × × − ×  × × × × × ×
8 STEP ×    × × ×  −  × × × ×  
9 ZSET          −      
10 ACC           −     
11 DCC            −    
12 SCC             −   
CHG_
13              −  
FILTER
14 KVS               − 
15 KPS                −
16 KFS                
17 PRM_RD                
18 PRM_WR                
19 ALM_MON                
20 ALM_HIST                
ALMHIST_
21                
CLR
23 VELO ×   × × × ×   × × × × × × ×
24 TRQ ×   × × × ×   × × × × × × ×
25 PHASE                
26 KIS                
27 PPRM_WR                
34 EX_FEED × Δ Δ  × × ×  ×  × × × × × ×
35 MEM_RD                
36 MEM_WR                
37 PMEM_RD                
38 PMEM_WR                
Continued on next page.

7-2
 7.1 Motion Command and Subcommand Execution Judgment Table
SVC and SVC32 Motion Command Execution Judgment Table

Continued from previous page.

New Command
Current
Code Command 16 17 18 19 20 21 23 24 25 26 27 34 35 36 37 38
KFS PRM_ PRM_ ALM_ ALM_ ALMH VELO TRQ PHAS KIS PPR EX_F MEM_ MEM_ PMEM PMEM
0 NOP                
1 POSING           ×     
2 EX_POSING Δ Δ Δ Δ Δ Δ × × × Δ ×  Δ Δ Δ Δ
3 ZRET × × × × × × × × × × × × × × × ×
INTERPO-
4                
LATE
ENDOF_
5 INTERPO-                
LATE
6 LATCH                
7 FEED × × × × × ×    × ×  × × × ×
8 STEP           ×     
9 ZSET                
10 ACC                
11 DCC                
12 SCC                
13 CHG_FILTER                
14 KVS                
15 KPS                
16 KFS −               
17 PRM_RD  −              
18 PRM_WR   −             
19 ALM_MON    −            
20 ALM_HIST     −           
ALMHIST_
21      −          
CLR
23 VELO × × × × × × −   × ×  × × × ×
24 TRQ × × × × × ×  −  × ×  × × × ×
25 PHASE         −       
26 KIS          −      

Switching Commands
27 PPRM_WR           −     
34 EX_FEED × × × × × ×    × × − × × × ×
35 MEM_RD             −   
36 MEM_WR              −  
37 PMEM_RD               − 
38 PMEM_WR                −
Note: : Indicates commands that can be switched to.
Δ: Indicates commands that can be executed if the absolute value specification method is selected for the position 7
reference type. If the incremental addition method is selected, the axis stops when the command is switched.
×: Indicates when the current command is canceled and the axis decelerates to a stop.
: Indicates commands that are ignored. Processing for the current command will continue.
Switching the INTERPOLATE, ENDOF_INTERPOLATE, LATCH, or PHASE command to the SCC or
CHG_FILTER command before pulse distribution is completed will cause a command error.

7-3
 7.1 Motion Command and Subcommand Execution Judgment Table
SVC and SVC32 Motion Subcommand Execution Judgment Table

SVC and SVC32 Motion Subcommand Execution Judgment

Table
The following table shows which subcommands can be switched to during execution of motion com-
mands.
New Subcommand
Current Motion
Code

0 1 2 3 4 5 6
Command
NOP PRM_RD PRM_WR INF_RD SMON FIXPRM_RD FIXPRM_CHG
0 NOP       
1 POSING       
2 EX_POSING  × ×    
3 ZRET  × ×    
4 INTERPOLATE       
5 ENDOF_INTERPOLATE       
6 LATCH       
7 FEED       
8 STEP       
9 ZSET       
10 ACC  × ×    
11 DCC  × ×    
12 SCC  × ×    
13 CHG_FILTER       
14 KVS  × ×    
15 KPS  × ×    
16 KFS  × ×    
17 PRM_RD  × ×    
18 PRM_WR  × ×    
19 ALM_MON  × ×    
20 ALM_HIST  × ×    
21 ALMHIST_CLR  × ×    
23 VELO       
24 TRQ       
25 PHASE       
26 KIS  × ×    
27 PPRM_WR  × ×    
34 EX_FEED  × ×    
35 MEM_RD  × ×    
36 MEM_WR  × ×    
37 PMEM_RD  × ×    
38 PMEM_WR  × ×    
Note: : Indicates subcommands that can be executed.
×: Indicates subcommands that cannot be executed.

7-4
 7.1 Motion Command and Subcommand Execution Judgment Table
SVR and SVR32 Motion Command Execution Judgment Table

SVR and SVR32 Motion Command Execution Judgment Table

The following table shows which motion commands can be switched to another motion command during
execution.
New Command
Current
Code

0 1 2 3 4 5 6 7 8 9 10 11 12 13 23 24 25
Command
NOP POS EX_P ZRET INTE ENDO LATC FEED STEP ZSET ACC DCC SCC CHG VELO TRQ PHAS
0 NOP −                
1 POSING × −   × × ×  ×  × × × ×   
2 EX_POSING × Δ −  × × ×  ×  × × × × Δ Δ Δ
3 ZRET × × × − × × × × × × × × × × × × ×
INTER-
4     −            
POLATE
ENDOF_
5 INTER-      −           
POLATE
6 LATCH       −          
7 FEED × Δ Δ × × × × − × × × × × × × × ×
8 STEP ×   × × × ×  − × × × × ×   
9 ZSET    ×      −  ×     
10 ACC × × × × × × × × × × − × × × × × ×
11 DCC × × × × × × × × × × × − × × × × ×
12 SCC × × × × × × × × × × × × − × × × ×
CHG_
13    ×      ×  ×  −   
FILTER
23 VELO ×   × × × ×   × × × × × − × ×
24 TRQ ×   × × × ×   × × × × × × − ×
25 PHASE × Δ Δ × × × × × × × × × × × × × −
Note: : Indicates commands that can be switched to.
Δ: Indicates commands that can be executed if the absolute value specification method is selected for the position
reference type. If the incremental addition method is selected, the axis stops when the command is switched.
×: Indicates when the current command is canceled and the axis decelerates to a stop.

Switching Commands

7-5
 7.2 Switching Motion Commands

7.2 Switching Motion Commands

The 14 motion commands that are listed below are extracted from the following table: SVC and SVC32
Motion Command Execution Judgment Table (page 7-2).

 Execution Judgment Table for 14 Commands

New Command
Current
Code

0 1 2 3 4 5 6 7 8 9 23 24 25 34
Command
NOP POS EX_P ZRET INTE ENDO LAT FEED STEP ZSET VELO TRQ PHAS EX_FE
0 NOP −             
1 POSING × −   × × ×  ×     
2 EX_POSING ×  −  × × ×  ×     
3 ZRET × × × − × × × × × × × × × ×
4 INTERPOLATE     −         
ENDOF_
5      −        
INTERPOLATE
6 LATCH       −       
7 FEED ×    × × × − ×     
8 STEP ×    × × ×  −     
9 ZSET         × −    
23 VELO ×   × × × ×   × −   
24 TRQ ×   × × × ×   ×  −  
25 PHASE             − 
34 EX_FEED ×    × × ×  ×     −
Note: : Indicates commands that can be switched to.
×: Indicates commands for which the current command is canceled and the axis decelerates to a stop. Then, the
new command is executed.
Detailed descriptions of the changes in axis motion when any of the above 14 commands are switched to
another command during execution are provided below.

7-6
 7.2 Switching Motion Commands
Switching from the POSING Motion Command

Switching from the POSING Motion Command

This section describes the operation when switching to another command during execution of the POS-
ING command.
Command Command
Operation
before Switching after Switching
The motion command switches to the NOP command after the axis deceler-
ates to a complete stop.
Canceled part of
POSING operation

NOP POSING

Motion command POSING NOP

Motion command POSING NOP

response

POSING The POSING operation continues.

The motion command immediately switches to the EX_POSING command.
When this occurs, the travel distance that is stored in the acceleration/decel-
eration filter is distributed. When execution of the EX_POSING command
is started, the related SERVOPACK parameters are written, and then the
positioning operation starts.
The speeds will change smoothly.
(Acceleration or deceleration is performed to
the target speed of the EX_POSING
command based on the current speed when
the command was switched.)
The acceleration/deceleration filter also Canceled part of
continues operation. POSING operation
POSING

POSING EX_POSING

Motion command POSING EX_POSING

EX_POSING Motion command POSING EX_POSING

response

Changing OL1C (Position Reference Setting) during Decelera-

tion
• Using the Incremental Value Addition Method (When Bit 5 in

Switching Commands
OW09 Is Set to 0)
The setting of OL1C (Position Reference Setting) is ignored.
• Using the Absolute Value Specification Method (When Bit 5 in
OW09 Is Set To 1)
The target position is the value of OL1C (Position Reference Set-
ting) when execution of the EX_POSING command is started.
Precautions
Do not change the Position Reference Setting parameter during decelera-
tion. 7
Doing so may cause a decrease in speed because the related parameters are
written at the start of EX_POSING execution.
Continued on next page.

7-7
 7.2 Switching Motion Commands
Switching from the POSING Motion Command

Continued from previous page.

Command Command
Operation
before Switching after Switching
The motion command immediately switches to the ZRET command. When
this occurs, the travel distance that is stored in the acceleration/deceleration
filter is distributed. When execution of ZRET is started, the related SER-
VOPACK parameters are written, and then the zero point return operation
starts.
The speeds will change smoothly.
(Acceleration or deceleration is performed to
the target speed of the ZSET command
based on the current speed when the
command was switched.)
The acceleration/deceleration filter also Canceled part of
continues operation. POSING operation
ZRET

POSING ZRET

Motion command POSING ZRET

Motion command POSING ZRET

response

Precautions
The speed may decrease because the related parameters are written at the
start of ZRET execution.
The motion command switches to the INTERPOLATE command after the
axis decelerates to a complete stop.
Canceled part of
POSING operation
POSING

POSING INTERPOLATE

Motion command POSING INTERPOLATE

Motion command POSING INTERPOLATE

response

Changing OL1C (Position Reference Setting) during Decelera-

INTERPOLATE tion
• Using the Incremental Value Addition Method (When Bit 5 in
OW09 Is Set to 0)
Any change to OL1C (Position Reference Setting) is ignored.
• Using the Absolute Value Specification Method (When Bit 5 in
OW09 Is Set to 1)
The change to OL1C (Position Reference Setting) is output in the
first high-speed scan after execution of the INTERPOLATE command is
started.
Precautions
Do not change the Position Reference Setting parameter during decelera-
tion.
ENDOF_INTER
Same as the INTERPOLATE command.
POLATE
LATCH Same as the INTERPOLATE command.
Continued on next page.

7-8
 7.2 Switching Motion Commands
Switching from the POSING Motion Command

Continued from previous page.

Command Command
Operation
before Switching after Switching
The motion command immediately switches to the FEED command, and
the travel distance that is stored in the acceleration/deceleration filter is con-
tinued.
The speeds will change smoothly.
(Acceleration or deceleration is performed to
the target speed of the FEED command
based on the current speed when the
command was switched.)
The acceleration/deceleration filter also Canceled part of
continues operation. POSING operation
FEED

POSING FEED

Motion command POSING FEED

Motion command POSING FEED

response

The motion command switches to the STEP command after the axis decel-
erates to a complete stop.
Canceled part of
POSING operation
STEP Travel
Distance
POSING STEP
POSING STEP

Motion command POSING STEP

Motion command POSING STEP

response

The motion command immediately switches to the ZSET command, and

the positioning operation continues.
The POSING
operation continues.

POSING
ZSET

Motion command POSING ZSET

Switching Commands
Motion command POSING ZSET
response

Precautions
In actual operation, set the zero point by executing ZSET when positioning
has been completed.
Continued on next page.

7-9
 7.2 Switching Motion Commands
Switching from the POSING Motion Command

Continued from previous page.

Command Command
Operation
before Switching after Switching
The motion command immediately switches to the VELO command, and
the control mode switches from position control to speed control. The travel
distance that is stored in the acceleration/deceleration filter is canceled.
The speeds will change smoothly.
(Acceleration or deceleration is performed
to the target speed of the VELO command
based on the current speed when the
command was switched.)
The acceleration/deceleration filter is Canceled part of
disabled. POSING operation

POSING VELO

VELO
Motion command POSING VELO

Motion command POSING VELO

response

Position Control Mode Speed Control Mode

Precautions
After switching to VELO, the VELO command operates without the accel-
eration/deceleration filter. To enable the acceleration/deceleration filter,
hold the POSING operation by executing the NOP command. Then, check
that bit 0 (Distribution Completed) in IW0C is 1 (Completed) before
you execute the VELO command.
The motion command immediately switches to the TRQ command, and the
control mode switches from position control to torque control. The travel
distance that is stored in the acceleration/deceleration filter is canceled.
The reference value of the TRQ
command is output regardless of the
current speed when the command is Canceled part of
switched. POSING operation
POSING

POSING TRQ

TRQ
Motion command POSING TRQ

Motion command POSING TRQ

response

Position Control Mode Torque Control Mode

Precautions
After switching the command, the TRQ command operates without the
acceleration/deceleration filter because the acceleration/deceleration filter
is disabled for the TRQ command.
The motion command immediately switches to the PHASE command, and
the control mode switches from position control to phase control.
The reference value of the PHASE
command is output regardless of the
current speed when the command is Canceled part of
switched. POSING operation

PHASE
POSING PHASE

Motion command POSING PHASE

Motion command POSING PHASE

response

Position Control Mode Phase Control Mode

EX_FEED Same as for the FEED command.

7-10
 7.2 Switching Motion Commands
Switching from the EX_POSING Motion Command

Switching from the EX_POSING Motion Command

This section describes the operation when switching to another command during execution of the EX_-
POSING command.
Command Command after
Operation
before Switching Switching
The motion command switches to the NOP command after the axis deceler-
ates to a complete stop.
Canceled part of
EX_POSING operation

NOP EX_POSING

Motion command EX_POSING NOP

Motion command EX_POSING NOP

response

• Using the Incremental Value Addition Method (When Bit 5 in

OW09 Is Set to 0)
The motion command switches to the POSING command after the axis
decelerates to a complete stop.
Canceled part of
EX_POSING operation

EX_POSING POSING

Motion command EX_POSING POSING

Motion command EX_POSING POSING

response

Incremental value = Target position - IL14 (DPOS)

EX_POSING OL1C = OL1C + Incremental value
Precautions
Any change to OL1C (Position Reference Setting) during decelera-
tion is ignored.
POSING
• Using the Absolute Value Specification Method (When Bit 5 in

Switching Commands
OW09 Is Set to 1)
The motion command immediately switches to the POSING command,
and the travel distance that is stored in the acceleration/deceleration filter
is continued.
The speeds will change smoothly.
(Acceleration or deceleration is performed
to the target speed of the POSING
command based on the current speed
when the command was switched.) Canceled part
The acceleration/deceleration filter also of EX_POSING
continues operation. operation

7
EX_POSING POSING

Motion command EX_POSING POSING

Motion command EX_POSING POSING

response

The set value for OL1C (Position Reference Setting) is as follows:

OL1C = Target position
EX_POSING The EX_POSING operation continues.
Continued on next page.

7-11
 7.2 Switching Motion Commands
Switching from the EX_POSING Motion Command

Continued from previous page.

Command Command after
Operation
before Switching Switching
The motion command immediately switches to the ZRET command, and
the travel distance that is stored in the acceleration/deceleration filter is
continued.
The speeds will change smoothly.
(Acceleration or deceleration is performed
to the target speed of the ZRET command
based on the current speed when the
command was switched.)
The acceleration/deceleration filter also Canceled part
continues operation. of EX_POSING
operation

ZRET
EX_POSING ZRET

Motion command EX_POSING ZRET

Motion command EX_POSING ZRET

response

Precautions
The speed may decrease because the related parameters are written at the
start of ZRET execution.
The motion command switches to the INTERPOLATE command after the
axis decelerates to a complete stop.
Canceled part
of EX_POSING
operation
EX_POSING
EX_POSING INTERPOLATE

Motion command EX_POSING INTERPOLATE

Motion command EX_POSING INTERPOLATE

response

Changing OL1C (Position Reference Setting) during Decelera-

INTERPOLATE
tion
• Using the Incremental Value Addition Method (When Bit 5 in
OW09 Is Set to 0)
Any change to OL1C (Position Reference Setting) is ignored.
• Using the Absolute Value Specification Method (When Bit 5 in
OW09 Is Set to 1)
The change to OL1C (Position Reference Setting) is output in the
first high-speed scan after execution of the INTERPOLATE command is
started.
Precautions
Do not change the Position Reference Setting parameter during decelera-
tion.
ENDOF_INTER
Same as the INTERPOLATE command.
POLATE
LATCH Same as the INTERPOLATE command.
Continued on next page.

7-12
 7.2 Switching Motion Commands
Switching from the EX_POSING Motion Command

Continued from previous page.

Command Command after
Operation
before Switching Switching
The motion command immediately switches to the FEED command, and
the travel distance that is stored in the acceleration/deceleration filter is
continued.
The speeds will change smoothly.
(Acceleration or deceleration is performed
to the target speed of the FEED command
based on the current speed when the
command was switched.) Canceled part
The acceleration/deceleration filter also of EX_POSING
continues operation. operation
FEED

EX_POSING FEED

Motion command EX_POSING FEED

Motion command EX_POSING FEED

response

The motion command switches to the STEP command after the axis decel-
erates to a complete stop.
Canceled part of
EX_POSING
operation
STEP travel
distance
STEP
EX_POSING STEP

Motion command EX_POSING STEP

Motion command EX_POSING STEP

response

• Using the Incremental Value Addition Method (When Bit 5 in

EX_POSING OW09 Is Set to 0)
The motion command switches to the ZSET command after the axis
decelerates to a complete stop.
A machine coordinate
system is created based
on the position where the Canceled part
axis decelerated to a stop. of EX_POSING
operation

EX_POSING

Switching Commands
Motion command EX_POSING ZSET

Motion command EX_POSING ZSET

response

• Using the Absolute Value Specification Method (When Bit 5 in

ZSET OW09 Is Set to 1)
The motion command immediately switches to the ZSET command, and
the positioning operation continues.
The EX_POSING
operation continues. 7

EX_POSING

Motion command EX_POSING ZSET

Motion command EX_POSING ZSET

response

Precautions
In actual operation, set the zero point by executing ZSET when positioning
has been completed.
Continued on next page.

7-13
 7.2 Switching Motion Commands
Switching from the EX_POSING Motion Command

Continued from previous page.

Command Command after
Operation
before Switching Switching
The motion command switches to the VELO command after the axis decel-
erates to a complete stop, and the control mode switches from position con-
trol to speed control.
Canceled part of
EX_POSING operation

VELO EX_POSING VELO

Motion command EX_POSING VELO

Motion command EX_POSING VELO

response

Position Control Mode Speed Control Mode

The motion command switches to the TRQ command after the axis deceler-
ates to a complete stop, and the control mode switches from position con-
trol to torque control.
Canceled part of
EX_POSING operation

EX_POSING TRQ

TRQ
EX_POSING Motion command EX_POSING TRQ

Motion command EX_POSING TRQ

response

Position Control Mode Torque Control Mode

Precautions
After switching the command, the TRQ command operates without the
acceleration/deceleration filter because the acceleration/deceleration filter
is disabled for the TRQ command.
The motion command switches to the PHASE command after the axis
decelerates to a complete stop, and the control mode switches from position
control to phase control.
The reference value of the PHASE
command is output regardless of the
current speed when the command is Canceled part of
switched. EX_POSING operation

PHASE
EX_POSING PHASE

Motion command EX_POSING PHASE

Motion command EX_POSING PHASE

response
Position Control Mode Phase Control Mode

EX_FEED Same as for the FEED command.

7-14
 7.2 Switching Motion Commands
Switching from the ZRET Motion Command

Switching from the ZRET Motion Command

This section describes the operation when switching to another command during execution of the ZRET
command.
Command Command
Operation
before Switching after Switching
The motion command switches to the NOP command after the axis deceler-
ates to a complete stop.
Canceled part of
ZRET operation

NOP ZRET

Motion command ZRET NOP

Motion command ZRET NOP

response

The motion command switches to the POSING command after the axis
decelerates to a complete stop.
Canceled part of
ZRET operation

ZRET POSING
ZRET

Motion command ZRET POSING

Motion command ZRET POSING

response

Changing OL1C (Position Reference Setting) during Decelera-

POSING
tion
• Using the Incremental Value Addition Method (When Bit 5 in
OW09 Is Set to 0)
Any change to OL1C (Position Reference Setting) is ignored.
• Using the Absolute Value Specification Method (When Bit 5 in
OW09 Is Set to 1)
The target position is the value of OL1C (Position Reference Set-
ting) when execution of the POSING command is started.
Precautions

Switching Commands
Do not change the Position Reference Setting parameter during decelera-
tion.
Continued on next page.

7-15
 7.2 Switching Motion Commands
Switching from the ZRET Motion Command

Continued from previous page.

Command Command
Operation
before Switching after Switching
The motion command switches to the EX_POSING command after the axis
decelerates to a complete stop.
When execution of the EX_POSING command is started, the related SER-
VOPACK parameters are written, and then the positioning operation starts.
Canceled part of
ZRET operation

ZRET EX_POSING

Motion command ZRET EX_POSING

Motion command ZRET EX_POSING

response
EX_POSING
Changing OL1C (Position Reference Setting) during Decelera-
tion
• Using the Incremental Value Addition Method (When Bit 5 in
OW09 Is Set to 0)
Any change to OL1C (Position Reference Setting) is ignored.
• Using the Absolute Value Specification Method (When Bit 5 in
OW09 Is Set to 1)
The target position is the value of OL1C (Position Reference Set-
ting) when execution of the EX_POSING command is started.
Precautions
Do not change the Position Reference Setting parameter during decelera-
tion.
ZRET The ZRET operation continues.
ZRET The motion command switches to the INTERPOLATE command after the
axis decelerates to a complete stop.
Canceled part of
ZRET operation

INTERPO
ZRET
LATE

Motion command ZRET INTERPOLATE

Motion command ZRET INTERPOLATE

response

Changing OL1C (Position Reference Setting) during Decelera-

INTERPOLATE tion
• Using the Incremental Value Addition Method (When Bit 5 in
OW09 Is Set to 0)
Any change to OL1C (Position Reference Setting) is ignored.
• Using the Absolute Value Specification Method (When Bit 5 in
OW09 Is Set to 1)
The change to OL1C (Position Reference Setting) is output in the
first high-speed scan after execution of the INTERPOLATE command is
started.
Precautions
Do not change the Position Reference Setting parameter during decelera-
tion.
ENDOF_IN-
Same as the INTERPOLATE command.
TERPOLATE
LATCH Same as the INTERPOLATE command.
Continued on next page.

7-16
 7.2 Switching Motion Commands
Switching from the ZRET Motion Command

Continued from previous page.

Command Command
Operation
before Switching after Switching
The motion command switches to the FEED command after the axis decel-
erates to a complete stop.
Canceled part of
ZRET operation

FEED ZRET FEED

Motion command ZRET FEED

Motion command ZRET FEED

response

The motion command switches to the STEP command after the axis decel-
erates to a complete stop.
Canceled part of
ZRET operation

STEP ZRET STEP

Motion command ZRET STEP

Motion command ZRET STEP

response

The ZSET command is executed when the axis has decelerated to a com-
ZRET plete stop.
A machine coordinate
system is created based
on the position where the
axis decelerated to a stop. Canceled part of
ZRET operation

ZSET
ZRET

Motion command ZRET ZSET

Motion command ZRET ZSET

response

The motion command switches to the VELO command after the axis decel-
erates to a complete stop.

Switching Commands
Canceled part of
ZRET operation

ZRET VELO
VELO

Motion command ZRET VELO

Motion command ZRET VELO

response

Position Control Mode Speed Control Mode

Continued on next page. 7

7-17
 7.2 Switching Motion Commands
Switching from the ZRET Motion Command

Continued from previous page.

Command Command
Operation
before Switching after Switching
The motion command switches to the TRQ command after the axis deceler-
ates to a complete stop.
Canceled part of
ZRET operation

ZRET TRQ
TRQ

Motion command ZRET TRQ

Motion command ZRET TRQ

response

Position Control Mode Torque Control Mode

The motion command switches to the PHASE command after the axis
decelerates to a complete stop.
Canceled part of
ZRET operation

ZRET PHASE
ZRET PHASE

Motion command ZRET PHASE

Motion command ZRET PHASE

response

Position Control Mode Phase Control Mode

The motion command switches to the EX_FEED command after the axis
decelerates to a complete stop.
When execution of the EX_FEED command is started, the related SERVO-
PACK parameters are written, and then the jogging operation starts.
Canceled part of
ZRET operation
EX_FEED
ZRET EX_FEED

Motion command ZRET EX_FEED

Motion command ZRET EX_FEED

response

7-18
 7.2 Switching Motion Commands
Switching from the INTERPOLATE Motion Command

Switching from the INTERPOLATE Motion Command

This section describes the operation when switching to another command during execution of the INTER-
POLATE command.
Command before Command
Operation
Switching after Switching
The motion command immediately switches to the NOP command, and the
travel distance that is stored in the acceleration/deceleration filter is distrib-
uted.
Output of the amount stored in
the acceleration/deceleration filter

NOP
INTERPOLATE

Motion command INTERPOLATE NOP

Motion command INTERPOLATE NOP

response

The motion command immediately switches to the POSING command, and

the travel distance that is stored in the acceleration/deceleration filter is
continued.
The speeds will change smoothly.
(Acceleration or deceleration is performed
to the target speed of the POSING
command based on the current speed
when the command was switched.)
INTERPOLATE The acceleration/deceleration filter also
continues operation.

INTERPOLATE POSING

POSING Motion command INTERPOLATE POSING

Motion command INTERPOLATE POSING

response

The value of OL1C (Position Reference Setting) when the motion

command is switched is as follows:
• Using the Incremental Value Addition Method (When Bit 5 in
OW09 Is Set to 0)
Incremental value = Target position − IL14 (DPOS)

Switching Commands
OL1C = OL1C + Incremental value
• Using the Absolute Value Specification Method (When Bit 5 in
OW09 Is Set to 1)
OL1C = Target position
Continued on next page.

7-19
 7.2 Switching Motion Commands
Switching from the INTERPOLATE Motion Command

Continued from previous page.

Command before Command
Operation
Switching after Switching
The motion command immediately switches to the EX_POSING com-
mand, and the travel distance that is stored in the acceleration/deceleration
filter is distributed.
When execution of the EX_POSING command is started, the related SER-
VOPACK parameters are written, and then the positioning operation starts.
Stop to change the SERVOPACK parameters
related to external positioning

INTERPOLATE EX_POSING

EX_POSING Motion command INTERPOLATE EX_POSING

Motion command INTERPOLATE EX_POSING

response

The value of OL1C (Position Reference Setting) when the motion

command is switched is as follows:
• Using the Incremental Value Addition Method (When Bit 5 in
OW09 Is Set to 0)
Incremental value = Target position − IL14 (DPOS)
INTERPOLATE OL1C = OL1C + Incremental value
• Using the Absolute Value Specification Method (When Bit 5 in
OW09 Is Set to 1)
OL1C = Target position
The motion command immediately switches to the ZRET command, and
the travel distance that is stored in the acceleration/deceleration filter is dis-
tributed.
When execution of ZRET is started, the related SERVOPACK parameters
are written, and then the zero point return operation starts.
Stop to change the SERVOPACK parameters
related to the zero point return operation
ZRET

INTERPOLATE ZRET

Motion command INTERPOLATE ZRET

Motion command INTERPOLATE ZRET

response

INTERPO-
The INTERPOLATE operation continues.
LATE
Continued on next page.

7-20
 7.2 Switching Motion Commands
Switching from the INTERPOLATE Motion Command

Continued from previous page.

Command before Command
Operation
Switching after Switching
The motion command immediately switches to the ENDOF_INTERPO-
LATE command, and the travel distance that is stored in the acceleration/
deceleration filter is continued.
The reference value of the
ENDOF_INTERPOLATE command is
output, regardless of the current speed
when the command is switched.
END- The acceleration/deceleration filter also
continues operation.
OF_INTER
POLATE
INTERPOLATE ENDOF_
INTERPOLATE

Motion command INTERPOLATE ENDOF_INTERPOLATE

Motion command INTERPOLATE ENDOF_INTERPOLATE

response

LATCH Same as the ENDOF_INTERPOLATE command.

The motion command immediately switches to the FEED command, and
the travel distance that is stored in the acceleration/deceleration filter is
continued.
The speeds will change smoothly.
(Acceleration or deceleration is performed
to the target speed of the FEED command
based on the current speed when the
command was switched.)
The acceleration/deceleration filter also
INTERPOLATE FEED
continues operation.

INTERPOLATE FEED

Motion command INTERPOLATE FEED

Motion command INTERPOLATE FEED

response

The motion command immediately switches to the STEP command, and

the travel distance that is stored in the acceleration/deceleration filter is
continued.
The speeds will change smoothly.
(Acceleration or deceleration is performed
to the target speed of the STEP command

Switching Commands
based on the current speed when the
command was switched.)
The acceleration/deceleration filter also
continues operation.
STEP STEP Travel
Distance

INTERPOLATE STEP

Motion command INTERPOLATE STEP

Motion command INTERPOLATE STEP

response 7
Continued on next page.

7-21
 7.2 Switching Motion Commands
Switching from the INTERPOLATE Motion Command

Continued from previous page.

Command before Command
Operation
Switching after Switching
The motion command immediately switches to the ZSET command, and
the travel distance that is stored in the acceleration/deceleration filter is dis-
tributed.
Output of the amount stored in
the acceleration/deceleration filter

INTERPOLATE
ZSET

Motion command INTERPOLATE ZSET

Motion command INTERPOLATE ZSET

response

Precautions
In actual operation, set the zero point by executing ZSET when positioning
has been completed.
The motion command immediately switches to the VELO command, and
the control mode switches from position control to speed control.
The travel distance that is stored in the acceleration/deceleration filter is
canceled.
INTERPOLATE
The speeds will change smoothly.
(Acceleration or deceleration is performed
to the target speed of the VELO command
based on the current speed when the
command was switched.)
The acceleration/deceleration filter is
disabled.

VELO
VELO INTERPOLATE

Motion command INTERPOLATE VELO

Motion command INTERPOLATE VELO

response
Position Control Mode Speed Control Mode

Precautions
After switching to VELO, the VELO command operates without the accel-
eration/deceleration filter. To enable the acceleration/deceleration filter,
hold the INTERPOLATE operation by executing the NOP command. Then,
check that bit 0 (Distribution Completed) in IW0C is 1 (Completed)
before you execute the VELO command.
Continued on next page.

7-22
 7.2 Switching Motion Commands
Switching from the ENDOF_INTERPOLATE or LATCH Motion Command

Continued from previous page.

Command before Command
Operation
Switching after Switching
The motion command immediately switches to the TRQ command, and the
control mode switches from position control to torque control.
At this time, the travel distance that is stored in the acceleration/decelera-
tion filter is canceled.
The reference value of the TRQ command
is output, regardless of the current speed
when the command is switched.

TRQ
TRQ INTERPOLATE

Motion command INTERPOLATE TRQ

Motion command INTERPOLATE TRQ

response
Position Control Mode Torque Control Mode

Precautions
After switching the command, the TRQ command operates without the
acceleration/deceleration filter because the acceleration/deceleration filter
is disabled for the TRQ command.
The motion command immediately switches to the PHASE command, and
the control mode switches from position control to phase control.
The reference value of the PHASE
command is output regardless of the current
speed when the command is switched.
INTERPOLATE

PHASE
INTERPOLATE PHASE

Motion command INTERPOLATE PHASE

Motion command INTERPOLATE PHASE

response
Position Control Mode Phase Control Mode

The motion command immediately switches to the EX_FEED command,

and the travel distance that is stored in the acceleration/deceleration filter is
distributed.
When execution of the EX_FEED command is started, the related SERVO-

Switching Commands
PACK parameters are written, and then the jogging operation starts.
Stop to change the SERVOPACK parameters
related to external positioning
EX_FEED

EX_FEED
INTERPOLATE

Motion command INTERPOLATE EX_FEED 7

Motion command INTERPOLATE EX_FEED
response

Switching from the ENDOF_INTERPOLATE or LATCH Motion

Command
Operation is the same as described in the following section.
Switching from the INTERPOLATE Motion Command (page 7-19)

7-23
 7.2 Switching Motion Commands
Switching from the FEED Motion Command

Switching from the FEED Motion Command

This section describes the operation when switching to another command during execution of the FEED
command.
Command Command
Operation
before Switching after Switching
The motion command switches to the NOP command after the axis deceler-
ates to a complete stop.

FEED
NOP

Motion command FEED NOP

Motion command FEED NOP

response

• Using the Incremental Value Addition Method (When Bit 5 in

OW09 Is Set to 0)
The motion command switches to the POSING command after the axis
decelerates to a complete stop.
Canceled part of
FEED operation

FEED POSING

Motion command FEED POSING

Motion command FEED POSING

response

Incremental value = Target position - IL14 (DPOS)

FEED OL1C = OL1C + Incremental value
Precautions
Any change to OL1C (Position Reference Setting) during decelera-
tion is ignored.
POSING
• Using the Absolute Value Specification Method (When Bit 5 in
OW09 Is Set to 1)
The motion command immediately switches to the POSING command,
and the travel distance that is stored in the acceleration/deceleration filter
is continued.
The speeds will change smoothly.
(Acceleration or deceleration is performed
to the target speed of the POSING
command based on the current speed
when the command was switched.)
The acceleration/deceleration filter
also continues operation.

FEED POSING

Motion command FEED POSING

Motion command FEED POSING

response

The set value for OL1C (Position Reference Setting) is as follows:

OL1C = Target position
Continued on next page.

7-24
 7.2 Switching Motion Commands
Switching from the FEED Motion Command

Continued from previous page.

Command Command
Operation
before Switching after Switching
• Using the Incremental Value Addition Method (When Bit 5 in
OW09 Is Set to 0)
The motion command switches to the EX_POSING command after the
axis decelerates to a complete stop.
When execution of the EX_POSING command is started, the related
SERVOPACK parameters are written, and then the positioning operation
starts.
Canceled part of
FEED operation

FEED EX_POSING

Motion command FEED EX_POSING

Motion command FEED EX_POSING

response

Incremental value = Target position - IL14 (DPOS)

OL1C = OL1C + Incremental value
Precautions
Any change to OL1C (Position Reference Setting) during decelera-
EX_POSING tion is ignored.

• Using the Absolute Value Specification Method (When Bit 5 in

OW09 Is Set to 1)
The motion command immediately switches to the EX_POSING com-
mand, and the travel distance that is stored in the acceleration/decelera-
tion filter is continued.
FEED The speeds will change smoothly.
(Acceleration or deceleration is performed to
the target speed of the EX_POSING
command based on the current speed when
the command was switched.)
The acceleration/deceleration filter also
continues operation.

FEED EX_POSING

Switching Commands
Motion command FEED EX_POSING

Motion command FEED EX_POSING

response
The set value for OL1C (Position Reference Setting) is as follows:
OL1C = Target position
The motion command immediately switches to the ZRET command, and
the travel distance that is stored in the acceleration/deceleration filter is
continued.
The speeds will change smoothly.
(Acceleration or deceleration is performed
7
to the target speed of the ZRET command
based on the current speed when the
command was switched.)
The acceleration/deceleration filter also Canceled part of
continues operation. FEED operation
ZRET

FEED ZRET

Motion command FEED ZRET

Motion command FEED ZRET

response

Continued on next page.

7-25
 7.2 Switching Motion Commands
Switching from the FEED Motion Command

Continued from previous page.

Command Command
Operation
before Switching after Switching
The motion command switches to the INTERPOLATE command after the
axis decelerates to a complete stop.
Canceled part of
FEED operation

FEED INTERPOLATE

Motion command FEED INTERPOLATE

Motion command FEED INTERPOLATE

response

Changing OL1C (Position Reference Setting) during Decelera-

INTERPOLATE tion
• Using the Incremental Value Addition Method (When Bit 5 in
OW09 Is Set to 0)
Any change to OL1C (Position Reference Setting) is ignored.
• Using the Absolute Value Specification Method (When Bit 5 in
OW09 Is Set to 1)
The change to OL1C (Position Reference Setting) is output in the
first high-speed scan after execution of the INTERPOLATE command is
started.
Precautions
Do not change the Position Reference Setting parameter during decelera-
tion.
ENDOF_INTER
Same as the INTERPOLATE command.
POLATE
FEED
LATCH Same as the INTERPOLATE command.
FEED The FEED operation continues.
The motion command switches to the STEP command after the axis decel-
erates to a complete stop.
Canceled part of
FEED operation

STEP
FEED STEP

Motion command FEED STEP

Motion command FEED STEP

response

The motion command immediately switches to the ZSET command, and

the jogging operation continues.
The FEED operation continues.

FEED

ZSET
Motion command FEED ZSET

Motion command FEED ZSET

response

Precautions
In actual operation, set the zero point by executing ZSET when positioning
has been completed.
Continued on next page.

7-26
 7.2 Switching Motion Commands
Switching from the FEED Motion Command

Continued from previous page.

Command Command
Operation
before Switching after Switching
The motion command immediately switches to the VELO command, and
the control mode switches from position control to speed control. The travel
distance that is stored in the acceleration/deceleration filter is canceled.
The speeds will change smoothly.
(Acceleration or deceleration is performed
to the target speed of the VELO command
based on the current speed when the
command was switched.)
The acceleration/deceleration filter is
disabled.

FEED VELO

VELO
Motion command FEED VELO

Motion command FEED VELO

response

Position Control Mode Speed Control Mode

Precautions
After switching to VELO, the VELO command operates without the accel-
eration/deceleration filter. To enable the acceleration/deceleration filter,
hold the FEED operation by executing the NOP command. Then, check that
bit 0 (Distribution Completed) in IW0C is 1 (Completed) before you
execute the VELO command.
The motion command immediately switches to the TRQ command. The
control mode changes from position control to torque control.
At this time, the travel distance that is stored in the acceleration/decelera-
tion filter is canceled.
The reference value of the TRQ command
FEED is output, regardless of the current speed
when the command is switched.

FEED TRQ
TRQ

Motion command FEED TRQ

Motion command FEED TRQ

response

Switching Commands
Position Control Mode Torque Control Mode

Precautions
After switching the command, the TRQ command operates without the
acceleration/deceleration filter because the acceleration/deceleration filter
is disabled for the TRQ command.
The motion command immediately switches to the PHASE command, and
the control mode switches from position control to phase control.
The reference value of the PHASE
command is output regardless of the current
7
speed when the command is switched.

PHASE
FEED PHASE

Motion command FEED PHASE

Motion command FEED PHASE

response

Position Control Mode Phase Control Mode

Continued on next page.

7-27
 7.2 Switching Motion Commands
Switching from the FEED Motion Command

Continued from previous page.

Command Command
Operation
before Switching after Switching
The motion command immediately switches to the EX_FEED command,
and the travel distance that is stored in the acceleration/deceleration filter is
continued.
The speeds will change smoothly.
(Acceleration or deceleration is performed
to the target speed of the EX_FEED
command based on the current speed when
the command was switched.)
The acceleration/deceleration filter also
continues operation.
FEED EX_FEED

FEED EX_FEED

Motion command FEED EX_FEED

Motion command FEED EX_FEED

response

7-28
 7.2 Switching Motion Commands
Switching from the STEP Motion Command

Switching from the STEP Motion Command

This section describes the operation when switching to another command during execution of the STEP
command.
Command Command
Operation
before Switching after Switching
The motion command switches to the NOP command after the axis deceler-
ates to a complete stop.

STEP
NOP

Motion command STEP NOP

Motion command STEP NOP

response

The motion command immediately switches to the POSING command, and

the travel distance that is stored in the acceleration/deceleration filter is
continued.
The speeds will change smoothly.
(Acceleration or deceleration is performed to
the target speed of the POSING command
based on the current speed when the
command was switched.)
The acceleration/deceleration filter also
continues operation.
STEP

STEP POSING

POSING
Motion command STEP POSING

Motion command STEP POSING

response

The value of OL1C (Position Reference Setting) when the motion

command is switched is as follows:
• Using the Incremental Value Addition Method (When Bit 5 in
OW09 Is Set to 0)
Incremental value = Target position - IL14 (DPOS)
OL1C = OL1C + Incremental value
• Using the Absolute Value Specification Method (When Bit 5 in

Switching Commands
OW09 Is Set to 1)
OL1C = Target position
Continued on next page.

7-29
 7.2 Switching Motion Commands
Switching from the STEP Motion Command

Continued from previous page.

Command Command
Operation
before Switching after Switching
The motion command immediately switches to the EX_POSING command,
and the travel distance that is stored in the acceleration/deceleration filter is
continued.
The speeds will change smoothly.
(Acceleration or deceleration is performed
to the target speed of the EX_POSING
command based on the current speed when
the command was switched.)
The acceleration/deceleration filter also
continues operation.

STEP EX_POSING

Motion command STEP EX_POSING

EX_POSING Motion command STEP EX_POSING

response

The value of OL1C (Position Reference Setting) when the motion

command is switched is as follows:
• Using the Incremental Value Addition Method (When Bit 5 in
OW09 Is Set to 0)
Incremental value = Target position - IL14 (DPOS)
OL1C = OL1C + Incremental value
• Using the Absolute Value Specification Method (When Bit 5 in
STEP OW09 Is Set to 1)
OL1C = Target position
Precautions
The speed may decrease because the related parameters are written at the
start of EX_POSING execution.
The motion command immediately switches to the ZRET command, and
the travel distance that is stored in the acceleration/deceleration filter is
continued.
The speeds will change smoothly.
(Acceleration or deceleration is performed
to the target speed of the ZRET command
based on the current speed when the
command was switched.)
The acceleration/deceleration filter also Canceled part of
continues operation. STEP operation

ZRET
STEP ZRET

Motion command STEP ZRET

Motion command STEP ZRET

response

Precautions
The speed may decrease because the related parameters are written at the
start of ZRET execution.
Continued on next page.

7-30
 7.2 Switching Motion Commands
Switching from the STEP Motion Command

Continued from previous page.

Command Command
Operation
before Switching after Switching
The motion command switches to the INTERPOLATE command after the
axis decelerates to a complete stop.
Canceled part of
STEP operation

STEP INTERPOLATE

Motion command STEP INTERPOLATE

Motion command STEP INTERPOLATE

response

Changing OL1C (Position Reference Setting) during Decelera-

INTERPOLATE tion
• Using the Incremental Value Addition Method (When Bit 5 in
OW09 Is Set to 0)
Any change to OL1C (Position Reference Setting) is ignored.
• Using the Absolute Value Specification Method (When Bit 5 in
OW09 Is Set to 1)
The change to OL1C (Position Reference Setting) is output in the
first high-speed scan after execution of the INTERPOLATE command is
started.
Precautions
Do not change the Position Reference Setting parameter during decelera-
tion.
ENDOF_INTER
Same as the INTERPOLATE command.
POLATE
LATCH Same as the INTERPOLATE command.
The motion command immediately switches to the FEED command, and
STEP the travel distance that is stored in the acceleration/deceleration filter is
continued.
The speeds will change smoothly.
(Acceleration or deceleration is performed
to the target speed of the FEED command
based on the current speed when the
command was switched.)
The acceleration/deceleration filter also
FEED continues operation.

Switching Commands
STEP FEED

Motion command STEP FEED

Motion command STEP FEED

response

STEP The STEP operation continues.

The motion command immediately switches to the ZSET command, and
the positioning operation continues.
7
The STEP operation continues.

STEP

ZSET
Motion command STEP ZSET

Motion command STEP ZSET

response

Precautions
In actual operation, set the zero point by executing ZSET when positioning
has been completed.
Continued on next page.

7-31
 7.2 Switching Motion Commands
Switching from the STEP Motion Command

Continued from previous page.

Command Command
Operation
before Switching after Switching
The motion command immediately switches to the VELO command, and
the control mode switches from position control to speed control. The travel
distance that is stored in the acceleration/deceleration filter is canceled.
The speeds will change smoothly.
(Acceleration or deceleration is performed
to the target speed of the VELO command
based on the current speed when the
command was switched.)
The acceleration/deceleration filter is
disabled.

STEP VELO

VELO
Motion command STEP VELO

Motion command STEP VELO

response

Position Control Mode Speed Control Mode

Precautions
After switching to VELO, the VELO command operates without the accel-
eration/deceleration filter. To enable the acceleration/deceleration filter,
hold the STEP operation by executing the NOP command. Then, check that
bit 0 (Distribution Completed) in IW0C is 1 (Completed) before you
execute the VELO command.
The motion command immediately switches to the TRQ command, and the
control mode switches from position control to torque control. The travel
distance that is stored in the acceleration/deceleration filter is canceled.
The reference value of the TRQ command
is output, regardless of the current speed
when the command is switched.
STEP

STEP TRQ

TRQ
Motion command STEP TRQ

Motion command STEP TRQ

response

Position Control Mode Torque Control Mode

Precautions
After switching the command, the TRQ command operates without the
acceleration/deceleration filter because the acceleration/deceleration filter
is disabled for the TRQ command.
The motion command immediately switches to the PHASE command, and
the control mode switches from position control to phase control.
The reference value of the PHASE
command is output regardless of the current
speed when the command is switched.

PHASE
STEP PHASE

Motion command STEP PHASE

Motion command STEP PHASE

response

Position Control Mode Phase Control Mode

EX_FEED Same as for the FEED command.

7-32
 7.2 Switching Motion Commands
Switching from the ZSET Motion Command

Switching from the ZSET Motion Command

The ZSET command completes in one scan as long as an infinite-length axis is not used with an absolute
encoder.
Any other motion command is started immediately if it is switched to while execution of the ZSET com-
mand is in progress.

Switching Commands

7-33
 7.2 Switching Motion Commands
Switching from the VELO Motion Command

Switching from the VELO Motion Command

This section describes the operation when switching to another command during execution of the VELO
command.
Command Command
Operation
before Switching after Switching
The motion command switches to the NOP command after the axis deceler-
ates to a complete stop, and the control mode switches from speed control
to position control.

VELO
NOP

Motion command VELO NOP

Motion command VELO NOP

response

Speed Control Mode Position Control Mode

The motion command immediately switches to the POSING command, and

the control mode switches from speed control to position control. The travel
distance that is stored in the acceleration/deceleration filter is canceled.
The speeds will change smoothly.
(Acceleration or deceleration is performed
to the target speed of the POSING
command based on the current speed
when the command was switched.)
The acceleration/deceleration filter is
disabled.

VELO VELO POSING

Motion command VELO POSING

Motion command VELO POSING

response

Speed Control Mode Position Control Mode

POSING
Precautions
After switching to POSING, the POSING command operates without the
acceleration/deceleration filter. To enable the acceleration/deceleration fil-
ter, hold the VELO operation by executing the NOP command. Then, check
that bit 0 (Distribution Completed) in IW0C is 1 (Completed) before
you execute the POSING command.

The value of OL1C (Position Reference Setting) when the motion

command is switched is as follows:
• Using the Incremental Value Addition Method (When Bit 5 in
OW09 Is Set to 0)
Incremental value = Target position - IL14 (DPOS)
OL1C = OL1C + Incremental value
• Using the Absolute Value Specification Method (When Bit 5 in
OW09 Is Set to 1)
OL1C = Target position
Continued on next page.

7-34
 7.2 Switching Motion Commands
Switching from the VELO Motion Command

Continued from previous page.

Command Command
Operation
before Switching after Switching
The motion command immediately switches to the EX_POSING command,
and the control mode switches from speed control to position control. The
travel distance that is stored in the acceleration/deceleration filter is can-
celed.
The speeds will change smoothly.
(Acceleration or deceleration is performed to
the target speed of the EX_POSING
command based on the current speed when
the command was switched.)
The acceleration/deceleration filter is
disabled.

VELO EX_POSING

Motion command VELO EX_POSING

Motion command VELO EX_POSING

response

EX_POSING Speed Control Mode Position Control Mode

Precautions
After switching to EX_POSING, the EX_POSING command operates with-
out the acceleration/deceleration filter. To enable the acceleration/decelera-
tion filter, hold the VELO operation by executing the NOP command.
Then, check that bit 0 (Distribution Completed) in IW0C is 1 (Com-
VELO pleted) before you execute the EX_POSING command.

The value of OL1C (Position Reference Setting) when the motion

command is switched is as follows:
• Using the Incremental Value Addition Method (When Bit 5 in
OW09 Is Set to 0)
Incremental value = Target position - IL14 (DPOS)
OL1C = OL1C + Incremental value
• Using the Absolute Value Specification Method (When Bit 5 in
OW09 Is Set to 1)
OL1C = Target position
The motion command switches to the ZRET command after the axis decel-
erates to a complete stop, and the control mode switches from speed control

Switching Commands
to position control.

VELO ZRET
ZRET

Motion command VELO ZRET

Motion command VELO ZRET

response

Speed Control Mode Position Control Mode 7

Continued on next page.

7-35
 7.2 Switching Motion Commands
Switching from the VELO Motion Command

Continued from previous page.

Command Command
Operation
before Switching after Switching
The motion command switches to the INTERPOLATE command after the
axis decelerates to a complete stop, and the control mode switches from
speed control to position control.

VELO INTERPOLATE

Motion command VELO INTERPOLATE

Motion command VELO INTERPOLATE

response

Speed Control Mode Position Control Mode

INTERPOLATE Changing OL1C (Position Reference Setting) during Decelera-

tion
• Using the Incremental Value Addition Method (When Bit 5 in
OW09 Is Set to 0)
Any change to OL1C (Position Reference Setting) is ignored.
• Using the Absolute Value Specification Method (When Bit 5 in
OW09 Is Set to 1)
The change to OL1C (Position Reference Setting) is output in the
first high-speed scan after execution of the INTERPOLATE command is
started.
VELO Precautions
Do not change the Position Reference Setting parameter during decelera-
tion.
ENDOF_INTER
Same as the INTERPOLATE command.
POLATE
LATCH Same as the INTERPOLATE command.
The motion command immediately switches to the FEED command, and
the control mode switches from speed control to position control. The travel
distance that is stored in the acceleration/deceleration filter is canceled.
The speeds will change smoothly.
(Acceleration or deceleration is performed
to the target speed of the FEED command
based on the current speed when the
command was switched.)
The acceleration/deceleration filter is
disabled.

FEED

VELO FEED

Motion command VELO FEED

Motion command VELO FEED

response

Speed Control Mode Position Control Mode

Continued on next page.

7-36
 7.2 Switching Motion Commands
Switching from the VELO Motion Command

Continued from previous page.

Command Command
Operation
before Switching after Switching
The motion command immediately switches to the STEP command, and
the control mode switches from speed control to position control. The travel
distance that is stored in the acceleration/deceleration filter is canceled.
The speeds will change smoothly.
(Acceleration or deceleration is performed
to the target speed of the STEP command
based on the current speed when the
command was switched.)
The acceleration/deceleration filter is
disabled.
STEP Travel
STEP Distance

VELO STEP

Motion command VELO STEP

Motion command VELO STEP

response

Speed Control Mode Position Control Mode

The ZSET command is executed when the axis has decelerated to a com-
plete stop.
A machine coordinate
system is created based
on the position where the
axis decelerated to a stop.

ZSET VELO

VELO
Motion command VELO ZSET

Motion command VELO ZSET

response

Speed Control Mode Position Control Mode

VELO The VELO operation continues.

The motion command immediately switches to the TRQ command, and the
control mode switches from speed control to torque control. The travel dis-
tance that is stored in the acceleration/deceleration filter is canceled.
The reference value of the TRQ command
is output, regardless of the current speed
when the command is switched.

VELO TRQ Switching Commands

TRQ
Motion command VELO TRQ

Motion command VELO TRQ

response

Speed Control Mode Torque Control Mode

Precautions
7
After switching the command, the TRQ command operates without the
acceleration/deceleration filter because the acceleration/deceleration filter
is disabled for the TRQ command.
Continued on next page.

7-37
 7.2 Switching Motion Commands
Switching from the VELO Motion Command

Continued from previous page.

Command Command
Operation
before Switching after Switching
The motion command immediately switches to the PHASE command, and
the control mode switches from speed control to phase control. The travel
distance that is stored in the acceleration/deceleration filter is canceled.
The reference value of the PHASE
command is output regardless of the current
speed when the command is switched.

PHASE
VELO VELO PHASE

Motion command VELO PHASE

Motion command VELO PHASE

response

Speed Control Mode Phase Control Mode

EX_FEED Same as for the FEED command.

7-38
 7.2 Switching Motion Commands
Switching from the TRQ Motion Command

Switching from the TRQ Motion Command

This section describes the operation when switching to another command during execution of the TRQ
command.
Command Command
Operation
before Switching after Switching
The axis decelerates to a stop in Position Control Mode from the speed
when the motion command was switched. TRQ switches to the NOP com-
mand after the axis completely decelerates.
The axis decelerates to a stop in Position
Control Mode from the speed when the
motion command was switched.

NOP TRQ

Motion command TRQ NOP

Motion command TRQ NOP

response

Torque Control Mode Position Control Mode

The motion command immediately switches to the POSING command, and

the control mode switches from torque control to position control.
The speeds will change smoothly.
(Acceleration or deceleration is performed to
the target speed of the POSING command
based on the current speed when the
command was switched.)
TRQ The acceleration/deceleration filter is
disabled.

TRQ POSING

Motion command TRQ POSING

POSING Motion command TRQ POSING
response

Torque Control Mode Position Control Mode

The value of OL1C (Position Reference Setting) when the motion

command is switched is as follows:

Switching Commands
• Using the Incremental Value Addition Method (When Bit 5 in
OW09 Is Set to 0)
Incremental value = Target position − IL14 (DPOS)
OL1C = OL1C + Incremental value
• Using the Absolute Value Specification Method (When Bit 5 in
OW09 Is Set to 1)
OL1C = Target position
Continued on next page.

7-39
 7.2 Switching Motion Commands
Switching from the TRQ Motion Command

Continued from previous page.

Command Command
Operation
before Switching after Switching
The motion command immediately switches to the EX_POSING com-
mand, and the control mode switches from torque control to position con-
trol.
The speeds will change smoothly.
(Acceleration or deceleration is performed
to the target speed of the EX_POSING
command based on the current speed
when the command was switched.)
The acceleration/deceleration filter is
disabled.

TRQ EX_POSING

Motion command TRQ EX_POSING

Motion command TRQ EX_POSING

response

Torque Control Mode Position Control Mode

EX_POSING
Precautions
After switching to EX_POSING, the EX_POSING command operates
without the acceleration/deceleration filter. To enable the acceleration/
deceleration filter, hold the TRQ operation by executing the NOP com-
mand. Then, check that bit 0 (Distribution Completed) in IW0C is 1
(Completed) before you execute the EX_POSING command.
TRQ
The value of OL1C (Position Reference Setting) when the motion
command is switched is as follows:
• Using the Incremental Value Addition Method (When Bit 5 in
OW09 Is Set to 0)
Incremental value = Target position − IL14 (DPOS)
OL1C = OL1C + Incremental value
• Using the Absolute Value Specification Method (When Bit 5 in
OW09 Is Set to 1)
OL1C = Target position
The axis decelerates to a stop in Position Control Mode, and then the
motion command switches to the ZRET command.
The axis decelerates to a stop in Position
Control Mode from the speed when the motion
command was switched.

ZRET TRQ ZRET

Motion command TRQ ZRET

Motion command TRQ ZRET

response

Torque Control Mode Position Control Mode

Continued on next page.

7-40
 7.2 Switching Motion Commands
Switching from the TRQ Motion Command

Continued from previous page.

Command Command
Operation
before Switching after Switching
The axis decelerates to a stop in Position Control Mode, and then the
motion command switches to the INTERPOLATE command.
The axis decelerates to a stop in Position
Control Mode from the speed when the
motion command was switched.

TRQ INTERPOLATE

Motion command TRQ INTERPOLATE

Motion command TRQ INTERPOLATE

response

Torque Control Mode Position Control Mode

INTERPOLATE Changing OL1C (Position Reference Setting) during Decelera-

tion
• Using the Incremental Value Addition Method (When Bit 5 in
OW09 Is Set to 0)
Any change to OL1C (Position Reference Setting) is ignored.
• Using the Absolute Value Specification Method (When Bit 5 in
OW09 Is Set to 1)
The change to OL1C (Position Reference Setting) is output in the
first high-speed scan after execution of the INTERPOLATE command is
started.
Precautions
Do not change the Position Reference Setting parameter during decelera-
tion.
TRQ ENDOF_INTER
Same as the INTERPOLATE command.
POLATE
LATCH Same as the INTERPOLATE command.
The motion command immediately switches to the FEED command, and
the control mode switches from torque control to position control. The
travel distance that is stored in the acceleration/deceleration filter is can-
celed.
The speeds will change smoothly.
(Acceleration or deceleration is performed
to the target speed of the FEED command
based on the current speed when the
command was switched.)

Switching Commands
The acceleration/deceleration filter is
disabled.

TRQ FEED
FEED

Motion command TRQ FEED

Motion command TRQ FEED

response

Torque Control Mode Position Control Mode

7
Precautions
After switching to FEED, the FEED command operates without the accel-
eration/deceleration filter. To enable the acceleration/deceleration filter,
hold the TRQ operation by executing the NOP command. Then, check that
bit 0 (Distribution Completed) in IW0C is 1 (Completed) before you
execute the FEED command.
Continued on next page.

7-41
 7.2 Switching Motion Commands
Switching from the TRQ Motion Command

Continued from previous page.

Command Command
Operation
before Switching after Switching
The motion command immediately switches to the STEP command, and
the control mode switches from torque control to position control. The
travel distance that is stored in the acceleration/deceleration filter is can-
celed.
The speeds will change smoothly.
(Acceleration or deceleration is performed
to the target speed of the STEP command
based on the current speed when the
command was switched.)
The acceleration/deceleration filter is
disabled.

TRQ STEP
STEP

Motion command TRQ STEP

Motion command TRQ STEP

response

Torque Control Mode Position Control Mode

Precautions
TRQ
After switching to STEP, the STEP command operates without the acceler-
ation/deceleration filter. To enable the acceleration/deceleration filter, hold
the TRQ operation by executing the NOP command. Then, check that bit 0
(Distribution Completed) in IW0C is 1 (Completed) before you exe-
cute the STEP command.
The axis decelerates to a stop in Position Control Mode, and then the ZSET
command is executed.
The axis decelerates to a stop
in Position Control Mode from
the speed when the motion
command was switched.
A machine coordinate system is
created based on the position where
the axis decelerated to a stop.
ZSET TRQ

Motion command TRQ ZSET

Motion command TRQ ZSET

response

Torque Control Mode Position Control Mode

Continued on next page.

7-42
 7.2 Switching Motion Commands
Switching from the TRQ Motion Command

Continued from previous page.

Command Command
Operation
before Switching after Switching
The motion command immediately switches to the VELO command, and
the control mode switches from torque control to speed control. The travel
distance that is stored in the acceleration/deceleration filter is canceled.
The speeds will change smoothly.
(Acceleration or deceleration is performed
to the target speed of the VELO command
based on the current speed when the
command was switched.)
The acceleration/deceleration filter is
disabled.

TRQ VELO

VELO
Motion command TRQ VELO

Motion command TRQ VELO

response

Torque Control Mode Speed Control Mode

Precautions
After switching to VELO, the VELO command operates without the accel-
eration/deceleration filter. To enable the acceleration/deceleration filter,
hold the TRQ operation by executing the NOP command. Then, check that
bit 0 (Distribution Completed) in IW0C is 1 (Completed) before you
TRQ execute the VELO command.
TRQ The TRQ operation continues.
The motion command immediately switches to the PHASE command, and
the control mode switches from torque control to phase control. The travel
distance that is stored in the acceleration/deceleration filter is canceled.
The reference value of the PHASE
command is output regardless of the current
speed when the command is switched.

TRQ PHASE

PHASE
Motion command TRQ PHASE

Motion command TRQ PHASE

response

Switching Commands
Torque Control Mode Phase Control Mode

Precautions
After switching the command, the PHASE command operates without the
acceleration/deceleration filter because the acceleration/deceleration filter
is disabled for the PHASE command.
EX_FEED Same as for the FEED command.

7-43
 7.2 Switching Motion Commands
Switching from the PHASE Motion Command

Switching from the PHASE Motion Command

This section describes the operation when switching to another command during execution of the PHASE
command.
Command Command
Operation
before Switching after Switching
The motion command immediately switches to the NOP command, and the
travel distance that is stored in the acceleration/deceleration filter is distrib-
uted.
Output of the amount stored in
the acceleration/deceleration
filter

NOP PHASE

Motion command PHASE NOP

Motion command PHASE NOP

response

Phase Control Mode Position Control Mode

The motion command immediately switches to the POSING command, and

the control mode switches from phase control to position control.
The speeds will change smoothly.
(Acceleration or deceleration is performed to
the target speed of the POSING command
based on the current speed when the
command was switched.)
PHASE

PHASE POSING

Motion command PHASE POSING

Motion command PHASE POSING

POSING response

Phase Control Mode Position Control Mode

The value of OL1C (Position Reference Setting) when the motion

command is switched is as follows:
• Using the Incremental Value Addition Method (When Bit 5 in
OW09 Is Set to 0)
Incremental value = Target position − IL14 (DPOS)
OL1C = OL1C + Incremental value
• Using the Absolute Value Specification Method (When Bit 5 in
OW09 Is Set to 1)
OL1C = Target position
Continued on next page.

7-44
 7.2 Switching Motion Commands
Switching from the PHASE Motion Command

Continued from previous page.

Command Command
Operation
before Switching after Switching
The motion command immediately switches to the EX_POSING com-
mand, and the control mode switches from phase control to position con-
trol. At this time, the travel distance that is stored in the acceleration/
deceleration filter is distributed.
When execution of the EX_POSING command is started, the related SER-
VOPACK parameters are written, and then the positioning operation starts.
Stop to change the SERVOPACK parameters
related to external positioning

PHASE EX_POSING

Motion command PHASE EX_POSING

EX_POSING
Motion command PHASE EX_POSING
response

Phase Control Mode Position Control Mode

The value of OL1C (Position Reference Setting) when the motion

command is switched is as follows:
• Using the Incremental Value Addition Method (When Bit 5 in
OW09 Is Set to 0)
Incremental value = Target position − IL14 (DPOS)
OL1C = OL1C + Incremental value
• Using the Absolute Value Specification Method (When Bit 5 in
OW09 Is Set to 1)
OL1C = Target position
The motion command immediately switches to the ZRET command, and
PHASE the control mode switches from phase control to position control. At this
time, the travel distance that is stored in the acceleration/deceleration filter
is distributed.
When execution of ZRET is started, the related SERVOPACK parameters
are written, and then the zero point return operation starts.
Stop to change the SERVOPACK parameters
related to the zero point return operation
ZRET

PHASE ZRET

Switching Commands
Motion command PHASE ZRET

Motion command PHASE ZRET

response

Phase Control Mode Position Control Mode

The motion command immediately switches to the INTERPOLATE com-

mand, and the control mode switches from phase control to position con-
trol.
7

PHASE INTERPOLATE
INTERPOLATE

Motion command PHASE INTERPOLATE

Motion command PHASE INTERPOLATE

response

Phase Control Mode Position Control Mode

Continued on next page.

7-45
 7.2 Switching Motion Commands
Switching from the PHASE Motion Command

Continued from previous page.

Command Command
Operation
before Switching after Switching
ENDOF_INTER
Same as the INTERPOLATE command.
POLATE
LATCH Same as the INTERPOLATE command.
The motion command immediately switches to the FEED command, and
the control mode switches from phase control to position control.
The speeds will change smoothly.
(Acceleration or deceleration is performed
to the target speed of the FEED command
based on the current speed when the
command was switched.)

FEED
PHASE FEED

Motion command PHASE FEED

Motion command PHASE FEED

response

Phase Control Mode Position Control Mode

The motion command immediately switches to the STEP command, and

the control mode switches from phase control to position control.
The speeds will change smoothly.
(Acceleration or deceleration is performed to
the target speed of the STEP command
based on the current speed when the
command was switched.)
STEP Travel
PHASE Distance

STEP
PHASE STEP

Motion command PHASE STEP

Motion command PHASE STEP

response

Phase Control Mode Position Control Mode

The motion command immediately switches to the ZSET command, and

the control mode switches from phase control to position control.
Output of the amount stored in
the acceleration/deceleration
filter

PHASE

ZSET
Motion command PHASE ZSET

Motion command PHASE ZSET

response

Phase Control Mode Position Control Mode

Precautions
In actual operation, set the zero point by executing ZSET when positioning
has been completed.
Continued on next page.

7-46
 7.2 Switching Motion Commands
Switching from the PHASE Motion Command

Continued from previous page.

Command Command
Operation
before Switching after Switching
The motion command immediately switches to the VELO command, and
the control mode switches from phase control to speed control. The travel
distance that is stored in the acceleration/deceleration filter is canceled.
The speeds will change smoothly.
(Acceleration or deceleration is performed
to the target speed of the VELO command
based on the current speed when the
command was switched.)
The acceleration/deceleration filter is
disabled.

PHASE VELO

VELO
Motion command PHASE VELO

Motion command PHASE VELO

response

Phase Control Mode Position Control Mode

Precautions
After switching to VELO, the VELO command operates without the accel-
eration/deceleration filter. To enable the acceleration/deceleration filter,
hold the PHASE operation by executing the NOP command. Then, check
that bit 0 (Distribution Completed) in IW0C is 1 (Completed) before
you execute the VELO command.
The motion command immediately switches to the TRQ command, and the
control mode switches from phase control to torque control.
The reference value of the TRQ command
is output, regardless of the current speed
when the command is switched.
PHASE

TRQ PHASE TRQ

Motion command PHASE TRQ

Motion command PHASE TRQ

response

Phase Control Mode Torque Control Mode

Switching Commands
PHASE The PHASE operation continues.
The motion command immediately switches to the EX_FEED command,
and the control mode switches from phase control to position control. At
this time, the travel distance that is stored in the acceleration/deceleration
filter is distributed.
When execution of the EX_FEED command is started, the related SERVO-
PACK parameters are written, and then the jogging operation starts.
Stop to change the SERVOPACK parameters
related to external positioning
EX_FEED 7

PHASE EX_FEED

Motion command PHASE EX_FEED

Motion command PHASE EX_FEED

response

Phase Control Mode Position Control Mode

7-47
 7.2 Switching Motion Commands
Switching from the EX_FEED Motion Command

Switching from the EX_FEED Motion Command

This section describes the operation when switching to another command during execution of the EX_-
FEED command.
Command Command
Operation
before Switching after Switching
The motion command switches to the NOP command after the axis deceler-
ates to a complete stop.

NOP EX_FEED

Motion command EX_FEED NOP

Motion command EX_FEED NOP

response

• Using the Incremental Value Addition Method (When Bit 5 in

OW09 Is Set to 0)
The motion command switches to the POSING command after the axis
decelerates to a complete stop.
Canceled part of
EX_FEED operation

EX_FEED POSING

Motion command EX_FEED POSING

Motion command EX_FEED POSING

response

Incremental value = Target position − IL14 (DPOS)

EX_FEED OL1C = OL1C + Incremental value
Precautions
Any change to OL1C (Position Reference Setting) during decelera-
tion is ignored.
POSING
• Using the Absolute Value Specification Method (When Bit 5 in
OW09 Is Set to 1)
The motion command immediately switches to the POSING command,
and the travel distance that is stored in the acceleration/deceleration filter
is continued.
The speeds will change smoothly.
(Acceleration or deceleration is performed
to the target speed of the POSING
command based on the current speed
when the command was switched.)
The acceleration/deceleration filter
also continues operation.

EX_FEED POSING

Motion command EX_FEED POSING

Motion command EX_FEED POSING

response

The set value for OL1C (Position Reference Setting) is as follows:

OL1C = Target position
Continued on next page.

7-48
 7.2 Switching Motion Commands
Switching from the EX_FEED Motion Command

Continued from previous page.

Command Command
Operation
before Switching after Switching
• Using the Incremental Value Addition Method (When Bit 5 in
OW09 Is Set to 0)
The motion command switches to the EX_POSING command after the
axis decelerates to a complete stop.
When execution of the EX_POSING command is started, the related
SERVOPACK parameters are written, and then the positioning operation
starts.
Canceled part of
FEED operation

EX_FEED EX_POSING

Motion command EX_FEED EX_POSING

Motion command EX_FEED EX_POSING

response

Incremental value = Target position − IL14 (DPOS)

OL1C = OL1C + Incremental value
Precautions
Any change to OL1C (Position Reference Setting) during decelera-
EX_POSING tion is ignored.

• Using the Absolute Value Specification Method (When Bit 5 in

OW09 Is Set to 1)
The motion command immediately switches to the EX_POSING com-
mand, and the travel distance that is stored in the acceleration/decelera-
tion filter is continued.
EX_FEED The speeds will change smoothly.
(Acceleration or deceleration is performed
to the target speed of the EX_POSING
command based on the current speed when
the command was switched.)
The acceleration/deceleration filter also
continues operation.

EX_FEED EX_POSING

Switching Commands
Motion command EX_FEED EX_POSING

Motion command EX_FEED EX_POSING

response

The set value for OL1C (Position Reference Setting) is as follows:

OL1C = Target position
The motion command immediately switches to the ZRET command, and
the travel distance that is stored in the acceleration/deceleration filter is
continued.
The speeds will change smoothly.
(Acceleration or deceleration is performed
7
to the target speed of the ZRET command
based on the current speed when the
command was switched.)
The acceleration/deceleration filter also Canceled part of
continues operation. EX_FEED operation
ZRET

EX_FEED ZRET

Motion command EX_FEED ZRET

Motion command EX_FEED ZRET

response

Continued on next page.

7-49
 7.2 Switching Motion Commands
Switching from the EX_FEED Motion Command

Continued from previous page.

Command Command
Operation
before Switching after Switching
The motion command switches to the INTERPOLATE command after the
axis decelerates to a complete stop.
Canceled part of
EX_FEED operation

EX_FEED INTERPOLATE

Motion command EX_FEED INTERPOLATE

Motion command EX_FEED INTERPOLATE

response

Changing OL1C (Position Reference Setting) during Decelera-

INTERPOLATE tion
• Using the Incremental Value Addition Method (When Bit 5 in
OW09 Is Set to 0)
Any change to OL1C (Position Reference Setting) is ignored.
• Using the Absolute Value Specification Method (When Bit 5 in
OW09 Is Set to 1)
The change to OL1C (Position Reference Setting) is output in the
first high-speed scan after execution of the INTERPOLATE command is
started.
Precautions
Do not change the Position Reference Setting parameter during decelera-
tion.
ENDOF_INTER
Same as the INTERPOLATE command.
POLATE
EX_FEED LATCH Same as the INTERPOLATE command.
The motion command immediately switches to the FEED command, and
the travel distance that is stored in the acceleration/deceleration filter is
continued.
The speeds will change smoothly.
(Acceleration or deceleration is performed to
the target speed of the FEED command
based on the current speed when the
command was switched.)
The acceleration/deceleration filter also
continues operation.
FEED

EX_FEED FEED

Motion command EX_FEED FEED

Motion command EX_FEED FEED

response

The motion command switches to the STEP command after the axis decel-
erates to a complete stop.
Canceled part of
EX_FEED operation

STEP
EX_FEED STEP

Motion command EX_FEED STEP

Motion command EX_FEED STEP

response

Continued on next page.

7-50
 7.2 Switching Motion Commands
Switching from the EX_FEED Motion Command

Continued from previous page.

Command Command
Operation
before Switching after Switching
The motion command immediately switches to the ZSET command, and
the jogging operation continues.
The EX_FEED operation continues.

EX_FEED

ZSET
Motion command EX_FEED ZSET

Motion command EX_FEED ZSET

response

Precautions
In actual operation, set the zero point by executing ZSET when positioning
has been completed.
The motion command immediately switches to the VELO command, and
the control mode switches from position control to speed control. The
travel distance that is stored in the acceleration/deceleration filter is can-
celed.
The speeds will change smoothly.
(Acceleration or deceleration is performed
to the target speed of the VELO command
based on the current speed when the
command was switched.)
The acceleration/deceleration filter is
canceled.

EX_FEED VELO
VELO

Motion command EX_FEED VELO

EX_FEED Motion command EX_FEED VELO

response

Position Control Mode Speed Control Mode

Precautions
After switching to VELO, the VELO command operates without the accel-
eration/deceleration filter. To enable the acceleration/deceleration filter,
hold the EX_FEED operation by executing the NOP command. Then,
check that bit 0 (Distribution Completed) in IW0C is 1 (Completed)

Switching Commands
before you execute the VELO command.
The motion command immediately switches to the TRQ command, and the
control mode switches from position control to torque control.
At this time, the travel distance that is stored in the acceleration/decelera-
tion filter is canceled.
The reference value of the TRQ command
is output, regardless of the current speed
when the command is switched.

7
EX_FEED TRQ
TRQ

Motion command EX_FEED TRQ

Motion command EX_FEED TRQ

response

Position Control Mode Torque Control Mode

Precautions
After switching the command, the TRQ command operates without the
acceleration/deceleration filter because the acceleration/deceleration filter
is disabled for the TRQ command.
Continued on next page.

7-51
 7.2 Switching Motion Commands
Switching from the EX_FEED Motion Command

Continued from previous page.

Command Command
Operation
before Switching after Switching
The motion command immediately switches to the PHASE command, and
the control mode switches from position control to phase control.
The reference value of the PHASE
command is output regardless of the current
speed when the command is switched.

PHASE
EX_FEED EX_FEED PHASE

Motion command EX_FEED PHASE

Motion command EX_FEED PHASE

response

Position Control Mode Phase Control Mode

EX_FEED The EX_FEED operation continues.

7-52
 Position Management
with an Absolute
Encoder
8
A system that uses an absolute encoder does not need to perform a
zero point return operation when the power supply is turned ON to
the machine. This chapter describes methods to manage the cur-
rent position of the machine using an absolute encoder. Read this
section carefully before you use a Servomotor that is equipped
with an absolute encoder.

8.1 Absolute Position Detection . . . . . . . . . . . . . . . . . 8-2

8.2 Absolute Encoder System Startup . . . . . . . . . . . . 8-3

Setting Up the Absolute Encoder (Initialization) . . . . . . . . . . . 8-4
Setting the Zero Point of the Machine Coordinate System . . . 8-4
Current Value in the Machine Coordinate System . . . . . . . . . 8-5

8.3 Reading Position Data When the Power Supply Is Turned ON . . 8-6

8.4 Position Management Method for Each Machine Operation Type . . 8-7
Finite-length Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-7
Infinite-length Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-13
Infinite-length Operation with Simple Absolute
Infinite Axis Position Management . . . . . . . . . . . . . . . . . . . . 8-15
Infinite-length Operation with Non-simple Absolute
Infinite Axis Position Management . . . . . . . . . . . . . . . . . . . . 8-19

8.5 Multiturn Limit Setting Disagreement Detection . . . 8-31

Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-31
Applicable Versions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-31
Related Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-32
Multiturn Limit Setting Disagreement Detection Timing . . . . 8-32
Checking for a Multiturn Limit Setting Disagreement . . . . . . 8-32
Clearing the Warning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-33
 8.1 Absolute Position Detection

8.1 Absolute Position Detection

The Machine Controller can read the current value from the absolute encoder in a Servomotor.
To detect the absolute position of the machine (axis), the Machine Controller constantly reads the current
value of the absolute encoder attached to the Servomotor. As a result, automatic operation can be immedi-
ately performed because the machine coordinate system is automatically detected as soon as the power
supply is turned ON.
Systems that use absolute position detection do not need to perform a zero point return operation after the
power supply is turned ON.

Absolute Encoder
There are incremental encoders that output pulses in response to the rotational displacement of the
Terms
axis, and there are absolute encoders that output the absolute position (position data for the rotational
angle) from a reference position (zero point of the encoder) regardless of rotation.
The absolute encoder uses a battery connected to the battery terminals of the SERVOPACK to main-
tain the absolute position data (called the absolute value data) at all times, even when the power supply
is turned OFF. The absolute value data is also updated if the position changes while the power supply is
OFF.
The absolute encoder consists of a detector that is used to detect the absolute position within one rota-
tion and a counter that is used to count the number of rotations. After automatic operation starts, the
absolute encoder operates in the same way as an incremental encoder.

8-2
 8.2 Absolute Encoder System Startup

8.2 Absolute Encoder System Startup

With an absolute encoder system, the zero point must be set during the initial setup procedure when the
system is commissioned. There are two zero points, the absolute encoder’s zero point and the machine’s
zero point. These are called the zero point of the encoder coordinate system and the zero point of the
machine coordinate system.

Absolute Encoder System

An absolute encoder system is a system that uses an absolute encoder. In the rest of this manual, these
Terms systems are called absolute encoder systems.

When the zero point is established, positions are then managed based on the zero point of the machine
coordinate system. This reference position will not change even if the power supply is turned OFF. For
this reason, a zero point return operation is not required each time the power supply is turned ON.
Establishing the zero point defines the positional relationship between the zero point of the absolute
encoder and the zero point of the machine coordinate system.
The following table gives the setup procedure for an absolute encoder system.
Before you perform the following setup procedure, confirm that the components and cable connections are
correct.
Step Item Description
Set up (initialize) the absolute The absolute encoder is initialized to initialize the multiturn data.
1
encoder. Setting Up the Absolute Encoder (Initialization) (page 8-4)
There are two types of machine operation. One type is finite-length
operation, where round-trip operation is performed within a defined
travel interval, and the other type is infinite-length operation, where
movement is performed in one direction, such as for a conveyor belt.
The related parameters in the Machine Controller and SERVOPACK
Set all parameters related to abso-
are set according to the operation method.

Position Management with an Absolute Encoder

lute position detection in the
2 Setting Up the Absolute Encoder (Initialization) (page 8-4)
Machine Controller and SERVO-
PACK. Finite-length Operation―Parameter Settings (page 8-7)
Infinite-length Operation with Simple Absolute Infinite Axis Position
Management―Parameter Settings (page 8-15)
Infinite-length Operation with Non-simple Absolute Infinite Axis Posi-
tion Management―Parameter Settings (page 8-19)
Set the zero point of the machine
3 –
coordinate system.
Note: Simple absolute positioning does not require programming for position management, but non-simple absolute posi-
tioning requires position management programming.
The following pages give detailed explanations of setting up the absolute encoder, setting the zero point of
the machine coordinate system, and the current value of the machine coordinate system.

8-3
 8.2 Absolute Encoder System Startup
Setting Up the Absolute Encoder (Initialization)

Setting Up the Absolute Encoder (Initialization)

The multiturn data for the absolute encoder system must be initialized the first time the system is started.
When the absolute encoder is set up (initialized), the multiturn data is initialized and any alarms related to
the absolute encoder are reset.
Absolute encoder setup (initialization) is required in the following situations.
• When the system is first started
• When an Encoder Backup Alarm (A.810) occurs
• When an Encoder Checksum Alarm (A.820) occurs
• When you want to initialize the multiturn data in the absolute encoder
Information Absolute Encoder Position Data
The absolute encoder position data is the coordinate value of the position as viewed from the zero
point of the absolute encoder.
The absolute encoder position data consists of the following two types of information.
• The amount of rotation from the zero point of the encoder coordinate system (multiturn data)
• Position within one rotation (number of pulses): Initial incremental pulses
The following formula is used to calculate the absolute encoder position data.
Absolute encoder position data = Multiturn data × Number of encoder pulses per rotation + Posi-
tion within one rotation (number of pulses)

Setting the Zero Point of the Machine Coordinate System

After the absolute encoder is initialized, the reference position to operate the machine with the Machine
Controller must be set.
The zero point of the absolute encoder and the zero point of the machine coordinate system will not match,
so they must be corrected. The reference for the zero point of the machine coordinate system is the zero
point of the absolute encoder. The deviation from the zero point of the absolute encoder is the correction
value (offset), and this establishes the zero point position of the machine coordinate system.

Example When encoder position X is set as the zero point of the machine coordinate system (0),
OL48 is set to -X.

Zero point of the machine

coordinate system
Machine
coordinate
OL48
Encoder
coordinate

Zero point of the absolute encoder Encoder position X

Each machine axis moves to the reference position for operation, and that position is the zero point in the
machine coordinate system.
The negative of the value of IL16 (APOS) is written to OL48 (OL48 = -IL16).
If the zero point of the machine coordinate system is set, the Machine Controller will recognize the current
position when the power supply is next turned ON, as shown in the next section 8.3 Reading Position Data
When the Power Supply Is Turned ON. The zero point will not need to be set again.

8-4
 8.2 Absolute Encoder System Startup
Current Value in the Machine Coordinate System

Current Value in the Machine Coordinate System

If an absolute encoder is used, the Machine Controller calculates the axis position (i.e., the current position
in the machine coordinate system) as follows when the power supply is turned ON.
Current position in machine coordinate system (IL10 or IL16) = Position when the Servo
power supply is turned ON + Value of OL48 setting parameter (Zero Point Position Offset in
Machine Coordinate System)

Example When IL10 is 10,000 and OL48 is 100, the negative value of the position when the
Servo power supply is turned ON is as follows:
OL48 - IL10 = 100 - 10,000 = -9,900
You can set this value of -9,900 in OL48 to set the current position in the machine coordi-
nate system as the machine coordinate zero point.

1. Use IL10 to make the machine coordinate reference position the reference, or use IL16
to make the current position in the machine coordinate system the reference.
Note
2. The position when the Servo power supply is turned ON is the value that is calculated with the fol-
lowing formula and then converted to reference units: Multiturn data × Number of encoder pulses +
Initial incremental pulses (position within one rotation). Refer to your SERVOPACK manual for
details on initial incremental pulses (position within one rotation).

Position Management with an Absolute Encoder

8-5
 8.3 Reading Position Data When the Power Supply Is Turned ON

8.3 Reading Position Data When the Power Supply Is Turned ON

When the Machine Controller power supply is turned ON, the Machine Controller reads the absolute
encoder position data from the SERVOPACK. The Machine Controller system automatically reads the
position data, so no programming is required.
Turn ON the power supply to the SERVOPACK first, or simultaneously turn ON the power supplies to the
Machine Controller and SERVOPACK.
The following diagram and table show the manner in which the position data is acquired when the power
supply is turned ON. This process is automatically executed by the Machine Controller system.
Machine Controller
Motion Module 1. Requesting the SERVOPACK
Monitor Parameters current value data

Position 4.Electronic Gear

Monitors MECHATROLINK Motor
Zero point offset
(IL0E to ↓
IL16) Current value of
machine coordinate 3. Sending the Encoder
system calculated. current value
data 2. Sending the
absolute value data

Process
Description
Order
After the power supply is turned ON, the Machine Controller sends a request to the SERVOPACK
1
to send the current value when MECHATROLINK communications are established.
The SERVOPACK gets the current value data from the absolute encoder when it receives the cur-
2
rent value request.
3 The SERVOPACK sends the current value data to the Machine Controller.
The Machine Controller calculates the current value in the machine coordinate system from the
4 electronic gear and machine coordinate system zero point offset (in the OL48 setting
parameter) data and places it in the position monitor registers.

8-6
 8.4 Position Management Method for Each Machine Operation Type
Finite-length Operation

8.4 Position Management Method for Each Machine Operation Type

Machine operation methods can be broadly classified into the following two types.
• Finite-length Operation
Finite-length operation is machine operation that performs round-trip operations within a defined travel
range.
This method is used when the travel range is within the absolute encoder’s counting range. No special
management of the current value is required.
• Infinite-length Operation
Infinite-length operation is machine operation where movement is performed in only one direction, such
as for a conveyor belt.
Because the travel range exceeds the absolute encoder’s counting range, special position management is
required, such as resetting the current value at a specific count value and then starting the count again.

Finite-length Operation
Finite-length operation is machine operation that performs round-trip operations within a defined travel
range. This section describes parameter settings required with finite-length operation, precautions for
parameter settings, setting the zero point, and precautions for when the power supply is turned OFF and
ON again.

Parameter Settings
This section describes the parameter settings for each axis when performing finite-length operation.

 Fixed Parameter Settings Required for Finite Axis Position Management

Position Management with an Absolute Encoder

Set bit 0 (Axis Selection) in fixed parameter No. 1 to 0 (Finite-length axis) to use the axis as a finite-length
axis.
No. Bit Name Set Value (Meaning) Detailed Information
0 Axis Selection 0 (Finite-length axis)
 No. 1: Function Selection
1 Simple Absolute Infinite
9 0* (Disabled) Flags 1 (page 4-31)
Axis Position Management
* When a finite-length axis is selected, the set value of bit 9 is ignored.

8-7
 8.4 Position Management Method for Each Machine Operation Type
Finite-length Operation

 Fixed Parameter Settings Required for an Absolute Encoder System

The fixed parameters that must be set for an absolute encoder system are listed in the following table.
No. Name Set Value Setting Unit Detailed Information
0: Pulses
1: mm
 No. 4: Reference Unit Selection (page
4 Reference Unit Selection 2: Degrees –
4-35)
3: Inches
4: μm
1: Absolute  No. 30: Encoder Selection (page 4-
30 Encoder Selection –
encoder 39)
 No. 36: Number of Pulses Per Motor
Number of Pulses per Motor Rotation (Rotary Motor) (page 4-40)
36 2N * pulse
Rotation  Number of Pulses per Motor Rotation
(page 8-9)
Maximum Number of Abso-  No. 38: Maximum Number of Abso-
38
lute Encoder Rotations 0 to 231 - 1 Rotation
lute Encoder Rotations (page 4-41)
* N is the number of encoder bits.

 SERVOPACK Parameter Settings

The SERVOPACK parameters that must be set for an absolute encoder system are listed in the following
table.
SERVOPACK Setting Detailed Infor-
Parameter Name Setting Range
Model Unit mation
0: Sets counterclockwise
(CCW) as the positive direc-
Direction tion.
Pn000.0 − −
Selection 1: Sets clockwise (CW) as
Σ-V Series the positive direction.
(SGDV- (Reverse Rotation Mode)
21) or  Maximum Num-
Σ-7 Series Multiturn ber of Absolute
Pn205 0 to 65,535 Rev
(SGD7- Limit Setting Encoder Rotations
20) (page 8-9)
0: Use absolute encoder as
Absolute an absolute encoder.  Encoder Selection
Pn002.2 −
Encoder Usage 1: Use absolute encoder as (page 8-8)
an incremental encoder.

Precautions for Parameter Settings

The names of some of the parameters in the Machine Controller and SERVOPACK are different even
though they have the same meaning. Set the values of these parameters so that they are consistent between
the Machine Controller and SERVOPACK. The following tables list information on the set values.

 Encoder Selection
Set the parameters as shown in the following table for an axis that performs absolute position detection.
Type Parameter Set Value
Fixed Parameter No. 30
Machine Controller 1: Absolute encoder
(Encoder Selection)
Σ-V-series or
Parameter: Pn002.2 (Abso-
Σ-7- series SER- 0: Use absolute encoder as an absolute encoder.
lute Encoder Usage)
VOPACK

8-8
 8.4 Position Management Method for Each Machine Operation Type
Finite-length Operation

 Number of Pulses per Motor Rotation

Refer to the following table and set fixed parameter No. 36 (Number of Pulses Per Motor Rotation (Rotary
Motor)) according to the number of encoder bits (resolution). This setting can be used for all SERVO-
PACK models.
Encoder Resolution Fixed Parameter No. 36 (Number of
(Number of Bits) Pulses Per Motor Rotation (Rotary Motor))
12 4,096
13 8,192
15 32,768
16 65,536
17 131,072
20 1,048,576
22 4,194,304
24 16,777,216

The set value of the SERVOPACK encoder output pulse rate (Pn212) is not used for control with the
Machine Controller. It is not necessary to change the set value of Pn212.

 Maximum Number of Absolute Encoder Rotations

These parameters set the maximum number of absolute encoder rotations that is managed by the SERVO-
PACK and Machine Controller.
For a finite-length axis, set the SERVOPACK multiturn limit (Pn205) to the maximum value that can be
set. Set the Machine Controller’s maximum number of absolute encoder rotations (fixed parameter No.
38) to the same value as Pn205 in the SERVOPACK.
The set value when the system is used with the Σ-V- or Σ-7-series SERVOPACK is given in the following
table.

Position Management with an Absolute Encoder

Type Parameter Set Value
Fixed parameter No. 38 (Maximum Number of Absolute
Machine Controller 65,535
Encoder Rotations)
Σ-V-series or Σ-7-series
Parameter: Pn205 (Multiturn Limit Setting) 65,535
SERVOPACK

Set the parameters to the same values in the above table to ensure that correct motion control is per-
formed and to prevent position variation.
Important A check will be performed to see whether or not both values match.

8-9
 8.4 Position Management Method for Each Machine Operation Type
Finite-length Operation

 Setting the Zero Point

CAUTION
• OL48 (Zero Point Position Offset in Machine Coordinate System) is always valid
when the axis type is set to a finite-length axis. Do not change the setting of OL48
while the Machine Controller is operating.
There is a risk of machine damage or an accident.

Set the zero point after you reset the absolute encoder to set the zero point of the machine coordinate sys-
tem and to create the machine coordinate system. Use the following procedure to do so.
Perform this procedure only once when the machine is initially started. This procedure is not necessary at
any other time.

START

Turn ON the Servomotor (Servo ON).

Jog to near the zero point.

Move to the zero point in STEP Mode. Repeat for

each axis.
Set OL48 to the value
of (OL48 − IL10).

Set the zero point with the ZSET command.

NO
Settings completed for all axes?
YES

END

 Saving the Value of OL48 before the Power Supply Is Turned OFF
After the zero point is set, save the value of the OL48 setting parameter (Zero Point Position Offset
in Machine Coordinate System) before you turn OFF the power supply to the Machine Controller so that
the value will be written in OL48 again the next time the power supply is turned ON.
There are two methods to save the value of OL48: from the MPE720 Parameters Tab Page or from
a ladder program to an M register that is backed up by a battery. Both of these methods are described
below.

8-10
 8.4 Position Management Method for Each Machine Operation Type
Finite-length Operation

 Saving the Value of OL48 from the MPE720 Parameters Tab Page
Open the Setting/Monitor parameter Tab Page for the axis to set on the MPE720 and use the following
procedure to save the value.
1. Check the value of IL10 in the Monitor Parameter Area.

Position Management with an Absolute Encoder

8-11
 8.4 Position Management Method for Each Machine Operation Type
Finite-length Operation

2. Check the current value of OL48 in the Setting Parameter Area, and then calculate value
with the following formula and set that value in OL48. (OL48: Zero Point Position Off-
set in Machine Coordinate System) - IL10: Machine Coordinate System Calculated Position
(CPOS))

3. Check that the current value and setting data value are the same for OL48.
4. Select File - Save from the menu.
The set value is saved to the Machine Controller.

5. Return to the Module Configuration Tab Page and select File - Save & Flash Save from the
menu.
The set value is saved to flash memory.

6. Set the zero point with the ZSET command.

After performing the above procedure, the saved value is stored automatically in OL48 when the
power supply is turned OFF and ON again.

8-12
 8.4 Position Management Method for Each Machine Operation Type
Infinite-length Operation

 Saving in M Registers from a Ladder Program

This method saves the value of the zero point position offset in the machine coordinate system in M regis-
ters backed up by a battery when the zero point is set. When the power supply for the Machine Controller
is turned ON again, the value of the M registers is stored in the OL48 setting parameter (Zero Point
Position Offset in Machine Coordinate System).
In a ladder program, program instructions that automatically execute the following sequence.
Programming Example
The following diagram shows an example of the ladder programming to use to store the offset value of
axis 1 of circuit number 1.
In the ladder program for an actual application, change the register address for each axis.
The ladder programming that is shown here is used to perform the following processing.
• After the zero point is set, the program subtracts the value of the IL10 monitor parameter
(Machine Coordinate System Calculated Position (CPOS)) from the OL48 setting parameter
(Zero Point Position Offset in Machine Coordinate System), and stores that value in OL48. This
value is also saved in M registers at the same time.
• After the zero point is set, the value that is saved in the M registers is stored in OL48.
Signal that turns ON only when setting the machine coordinate system
zero point (The diagram below shows an example of external signal.
The register address given here has no special meaning.)

Position Management with an Absolute Encoder

Execute this every scan in a high-speed drawing.

Save the value of OL48 (Zero Point Position Offset in Machine Coordinate System) to the M
registers only when the value of OL48 is updated, such as when the zero point is set. Processing
Important that constantly saves the value of OL48 to the M registers may cause position variations.
8

Infinite-length Operation
Infinite-length axis positioning automatically resets the machine position, the program position (absolute
value in the program coordinate system), and the current position at regular intervals according to the
value set in fixed parameter No. 10 (Infinite-length Axis Reset Position (POSMAX)). With this function,
the system can operate the axis as an infinite-length axis that performs repeated positioning in the same
direction.

8-13
 8.4 Position Management Method for Each Machine Operation Type
Infinite-length Operation

This concept is shown below.

POSMAX

Infinite-length Operation Position Management Methods

There are two methods for infinite-length operation position management: a position management method
that does not require ladder programming (simple absolute infinite axis position management) and a
method that manages the position with ladder programming (non-simple absolute infinite axis position
management).
To perform simple absolute infinite axis position management, set fixed parameters No. 36, 38, 10, 6, 8,
and 9 so they satisfy the following conditions.
For a Σ-V-series or Σ-7-series SERVOPACK, the fixed parameters can be set so they satisfy the following
conditions. You can then use simple absolute infinite axis position management.
Condition 1:
(No. 38: Maximum Number of Absolute Encoder Rotations + 1) / Reset rotations = Integer
(Remainder = 0)

The reset number of rotations depends on whether the pulse, or whether the mm, degree, inch, or μm is
selected for the reference unit.
• When the Reference Unit Is Pulse
Reset number of rotations = No. 10: Infinite-length Axis Reset Position (POSMAX) / No. 36: Num-
bers of Pulses Per Motor Rotation

• When the Reference Unit Is mm, degree, inch, or μm

Reset number of rotations = No. 10: Infinite-length Axis Reset Position (POSMAX) × No. 8: Servo-
motor Gear Ratio / (No. 6: Travel Distance per Machine Rotation (Rotary Motor) × No. 9: Machine
Gear Ratio)

Condition 2:
No. 36: Number of Pulses per Motor Rotation (Rotary Motor) × (No. 38: Maximum Number of
Absolute Encoder Rotations + 1) < 231 (= 2,147,483,648)

Information Condition 2 is only applicable for MP3200 CPU201 Version 1.07 or earlier.

If the above conditions cannot be satisfied, non-simple absolute infinite axis position management must be
used to manage the position with ladder programming.

8-14
 8.4 Position Management Method for Each Machine Operation Type
Infinite-length Operation with Simple Absolute Infinite Axis Position Management

Infinite-length Operation with Simple Absolute Infinite Axis

Position Management
Infinite-length operation is operation where movement is performed in one direction, such as is required
for a conveyor belt. This section describes parameter settings required with infinite-length operation using
simple absolute infinite axis position management, precautions for parameter settings, setting the zero
point, and precautions for when the power supply is turned ON and OFF.

Parameter Settings
This section describes the parameter settings required for each axis when performing infinite-length oper-
ation using simple absolute infinite axis position management.

 Fixed Parameter Settings Required for Infinite Axis Position Management

To perform simple absolute infinite axis position management using the axis as an infinite-length axis, set
fixed parameter No. 1 bit 0 (Axis Selection) to 1 (Infinite-length axis) and fixed parameter No. 1 bit 9
(Simple Absolute Infinite Axis Position Management (Simple ABS rotary Pos. mode)) to 1 (Enabled).
No. Bit Name Set Value (Meaning) Detailed Information
0 Axis Selection 1: Infinite-length axis
Simple Absolute Infinite Axis  No. 1: Function Selection
1
9 Position Management (Simple 1: Enabled Flags 1 (page 4-31)
ABS rotary Pos. mode)

 Fixed Parameter Settings Required for an Absolute Encoder System

The following table lists the fixed parameters that must be set to perform infinite-length operation using

Position Management with an Absolute Encoder

simple absolute infinite axis position management.
Setting
No. Name Set Value Detailed Information
Unit
0: Pulses*1
1: mm
 No. 4: Reference Unit Selec-
4 Reference Unit Selection 2: Degrees –
tion (page 4-35)
3: Inches
4: μm
 No. 30: Encoder Selection
30 Encoder Selection 1: Absolute encoder –
(page 4-39)
Travel Distance per Machine Refer-
6
Rotation (Rotary Motor) 1 to 231 - 1 ence unit
–

8 Servomotor Gear Ratio Term 1 to 65,535 Rotation –

9 Machine Gear Ratio Term 1 to 65,535 Rotation –
Infinite-length Axis Reset Posi- Refer-
10
tion (POSMAX) 1 to 231 - 1 ence unit
–
8
 No. 36: Number of Pulses Per
Motor Rotation (Rotary Motor)
Number of Pulses per Motor
36
Rotation (Rotary Motor) 2N *2 Pulse (page 4-40)
 Number of Pulses per Motor
Rotation (page 8-17)
 No. 38: Maximum Number of
Maximum Number of Absolute
38
Encoder Rotations 0 to 231 - 1 Rotation Absolute Encoder Rotations (page
4-41)
*1. Electronic gear settings are invalid when the pulse is selected as the reference unit.
*2. N is the number of encoder bits.

8-15
 8.4 Position Management Method for Each Machine Operation Type
Infinite-length Operation with Simple Absolute Infinite Axis Position Management

 Fixed Parameter Setting Example

The following table gives a fixed parameter setting example for infinite-length operation using simple
absolute infinite axis position management.
No. Name Set Value Unit
4 Reference Unit Selection 2 Degree
30 Encoder Selection 1 Absolute encoder
6 Travel Distance per Machine Rotation 360,000 Reference unit = Degree
8 Servomotor Gear Ratio Term 6 Rotation
9 Machine Gear Ratio Term 5 Rotation
Infinite-length Axis Reset Position (POS-
10 360,000 Reference unit = Degree
MAX)
36 Number of Pulses per Motor Rotation 16,384 Pulse
Maximum Number of Absolute Encoder
38 59,705 Rotation
Rotations

Reset number of rotations = (360,000 × 6)/(360,000 × 5) = 6/5

Formula for determining if simple infinite axis position management can be used: (59,705 + 1) / (6/5) =
49,755
Because the above formula results in an integer with a remainder of 0, simple absolute infinite axis posi-
tion management can be used.

 SERVOPACK Parameter Settings

The SERVOPACK parameters that must be set for an absolute encoder system are listed in the following
table.
SERVOPACK Setting Detailed Infor-
Parameter Name Setting Range
Model Unit mation
0: Sets counterclockwise
(CCW) as the positive direc-
Direction tion.
Pn000.0 − −
Selection 1: Sets clockwise (CW) as
Σ-V Series the positive direction
(SGDV- (Reverse Rotation Mode).
21) or  Maximum Num-
Σ-7 Series Multiturn ber of Absolute
Pn205 0 to 65,535 Rev
(SGD7- Limit Setting Encoder Rotations
20) (page 8-9)
0: Use absolute encoder as
Absolute an absolute encoder.  Encoder Selection
Pn002.2 −
Encoder Usage 1: Use absolute encoder as (page 8-8)
an incremental encoder.

8-16
 8.4 Position Management Method for Each Machine Operation Type
Infinite-length Operation with Simple Absolute Infinite Axis Position Management

Precautions for Parameter Settings

The names of some of the parameters in the Machine Controller and SERVOPACK are different even
though they have the same meaning. Set the values of these parameters to the same values on the Machine
Controller and SERVOPACK.

 Encoder Selection
Set the parameters as shown in the following table for an axis that performs absolute position detection.
Type Parameter Set Value
Fixed Parameter No. 30
Machine Controller 1: Absolute encoder
(Encoder Selection)
Σ-V-series SER- Parameter: Pn002.2 (Abso-
0: Use absolute encoder as an absolute encoder.
VOPACK lute Encoder Usage)

 Number of Pulses per Motor Rotation

Refer to the following table and set fixed parameter No. 36 (Number of Pulses Per Motor Rotation (Rotary
Motor)) according to the number of encoder bits (resolution). This setting can be used for all SERVO-
PACK models.
Encoder Resolution Fixed Parameter No. 36 (Number of
(Number of Bits) Pulses Per Motor Rotation (Rotary Motor))
12 4,096
13 8,192
15 32,768
16 65,536
17 131,072
20 1,048,576

Position Management with an Absolute Encoder

22 4,194,304
24 16,777,216

The set value of the SERVOPACK encoder output pulse rate (Pn212) is not used for control with the
Machine Controller. It is not necessary to change the set value of Pn212.

 Maximum Number of Absolute Encoder Rotations

These parameters set the maximum number of absolute encoder rotations that is managed by the SERVO-
PACK and Machine Controller.
For a finite-length axis, set the SERVOPACK multiturn limit (Pn205) to the maximum value that can be
set. Set the Machine Controller’s maximum number of absolute encoder rotations (fixed parameter No.
38) to the same value as Pn205 in the SERVOPACK.
The set value when the system is used with the Σ-V- or Σ-7-series SERVOPACK is given in the following
table.
Type Parameter Set Value 8
Fixed parameter No. 38 (Maximum Number of Absolute Match the Pn205 set
Machine Controller
Encoder Rotations) value.
Σ-V-series or Σ-7-series
Parameter: Pn205 (Multiturn Limit Setting) 65,534 or less
SERVOPACK

Set the parameters to the same values in the above table to ensure that correct motion control is per-
formed and to prevent position variation.
Important A check will be performed to see whether or not both values match.

8-17
 8.4 Position Management Method for Each Machine Operation Type
Infinite-length Operation with Simple Absolute Infinite Axis Position Management

 Setting the Zero Point

CAUTION
• OL48 (Zero Point Position Offset in Machine Coordinate System) is always valid
when the axis type is set to a finite-length axis. Do not change the setting of OL48
while the Machine Controller is operating.
There is a risk of machine damage or an accident.

Set the zero point after you reset the absolute encoder to set the zero point of the machine coordinate sys-
tem and to create the machine coordinate system. Use the following procedure to do so.
Perform this procedure only once when the machine is initially started. This procedure is not necessary at
any other time.

START

Turn ON the Servomotor (Servo ON).

Jog to near the zero point.

Move to the zero point in STEP Mode. Repeat for

each axis.

Set OL48 to the value

of (OL48 − IL10).

Set the zero point with the ZSET command.

NO
Settings completed for all axes?
YES

END

Saving the Value of OL48 before the Power Supply Is Turned

OFF
After the zero point is set, save the value of the OL48 setting parameter (Zero Point Position Offset
in Machine Coordinate System) before you turn OFF the power supply to the Machine Controller so that
the value will be written in OL48 again the next time the power supply is turned ON.
There are two methods to save the value of OL48: from the MPE720 Parameters Tab Page or from
a ladder program to an M register that is backed up by a battery.
Refer to the following sections for details on these methods.
 Saving the Value of OL48 from the MPE720 Parameters Tab Page (page 8-11)
 Saving in M Registers from a Ladder Program (page 8-13)

8-18
 8.4 Position Management Method for Each Machine Operation Type
Infinite-length Operation with Non-simple Absolute Infinite Axis Position Management

Turning ON the Power after Setting the Zero Point in the Machine
Coordinate System
Bit 5 (Zero Point Return/Setting Completed (ZRNC)) in the IW0C monitor parameter changes to 0
(Zero point return/setting not completed) when the power supply to the Machine Controller is turned OFF
and ON again or the communications are interrupted by turning the power supply to the SERVOPACK
OFF and ON again after the zero point has been set. Therefore, you must use the following procedure to
change bit 5 in IW0C back to 1 (Zero point return/setting completed) after the power supply is
turned back ON and communications are restored.
1. Turn ON the power supply to the Machine Controller. Or, clear alarms to restart communications.
The saved offset is stored in OL48.

2. Check that communications are synchronized.

Check to make sure that bit 0 (Motion Operation Ready (Motion controller operation ready)) in the
IW00 monitor parameter is 0 (Motion operation not ready) at this time.

3. Set the OW08 setting parameter (Motion Commands) to 9 to execute the ZSET (Set Zero
Point) motion command.

This process is performed to set bit 5 in IW0C to 1 (Zero point return/setting completed). This is
not the same as the process to set the zero point in the machine coordinate system (i.e., the process to
Note set OL48).

Infinite-length Operation with Non-simple Absolute Infinite Axis

Position Management
If the conditions to perform simple absolute infinite axis position management cannot be satisfied, non-

Position Management with an Absolute Encoder

simple absolute infinite axis position management must be used to manage the position with ladder pro-
gramming in order to perform infinite-length operation.
If simple absolute infinite axis position management is not used, special ladder programming is required
for operation and for when the power supply to the system is turned ON.
The zero point must also be set when the machine (system) first starts.

Parameter Settings
This section describes the parameter settings required for each axis when performing infinite-length oper-
ation using non-simple absolute infinite axis position management.

 Fixed Parameter Settings Required for Infinite Axis Position Management

To perform simple absolute infinite axis position management using the axis as an infinite-length axis, set
fixed parameter No. 1 bit 0 (Axis Selection) to 1: Infinite-length axis and fixed parameter No. 1 bit 9 (Sim- 8
ple Absolute Infinite Axis Position Management (Simple ABS rotary Pos. mode)) to 0 (Disabled).
Set Value (Mean-
No. Bit Name Detailed Information
ing)
1: Infinite-length
0 Axis Selection
axis
 No. 1: Function Selection
1 Simple Absolute Infinite Axis Posi- Flags 1 (page 4-31)
9 tion Management (Simple ABS 0: Disabled
rotary Pos. mode)

8-19
 8.4 Position Management Method for Each Machine Operation Type
Infinite-length Operation with Non-simple Absolute Infinite Axis Position Management

 Fixed Parameter Settings Required for an Absolute Encoder System

The following table lists the fixed parameters that must be set to perform infinite-length operation using
non-simple absolute infinite axis position management.

Setting
No. Name Set Value Detailed Information
Unit
0: Pulses*1
1: mm
 No. 4: Reference Unit Selec-
4 Reference Unit Selection 2: Degrees –
tion (page 4-35)
3: Inches
4: μm
 No. 30: Encoder Selection
30 Encoder Selection 1: Absolute encoder –
(page 4-39)
Travel Distance per Machine Refer-
6
Rotation (Rotary Motor) 1 to 231 - 1 ence unit
–

8 Servomotor Gear Ratio Term 1 to 65,535 Rotation –

9 Machine Gear Ratio Term 1 to 65,535 Rotation –
Infinite-length Axis Reset Posi- Refer-
10
tion (POSMAX) 1 to 231 - 1 ence unit
–

Number of Pulses per Motor  Number of Pulses per Motor

36
Rotation (Rotary Motor) 2N *2 Pulse
Rotation (page 8-23)
 No. 38: Maximum Number of
Maximum Number of Absolute
38
Encoder Rotations 0 to 231 - 1 Rotation Absolute Encoder Rotations (page
4-41)
*1. Electronic gear settings are invalid when the pulse is selected as the reference unit.
*2. N is the number of encoder bits.

 SERVOPACK Parameter Settings

The SERVOPACK parameters that must be set for an absolute encoder system are listed in the following
table.
SERVOPACK Setting Detailed Infor-
Parameter Name Setting Range
Model Unit mation
0: Sets counterclockwise
(CCW) as the positive direc-
Direction tion.
Pn000.0 − −
Selection 1: Sets clockwise (CW) as
the positive direction.
(Reverse Rotation Mode)
Σ-V Series
 Maximum Num-
(SGDV-
Multiturn ber of Absolute
21) Pn205 0 to 65,535 Rev
Limit Setting Encoder Rotations
(page 8-23)
0: Use absolute encoder as
Absolute an absolute encoder.  Encoder Selection
Pn002.2 −
Encoder Usage 1: Use absolute encoder as (page 8-22)
an incremental encoder.

8-20
 8.4 Position Management Method for Each Machine Operation Type
Infinite-length Operation with Non-simple Absolute Infinite Axis Position Management

Setting the Machine Coordinate Zero Point

The following procedure sets the zero point for non-simple absolute infinite axis position management.
When the zero point is set, the position where the axis stops is specified by using the distance from the
zero point of the machine coordinate system. In other words, the position of the zero point of the machine
coordinate system is determined by setting the offset from the zero point of the encoder.
When the OL48 (Zero Point Position Offset in Machine Coordinate System) setting parameter is set
to the value of the desired position to set the zero point, the set value will be set as the current position in
the machine coordinate system.
Therefore, to set the zero point of the machine coordinate system as the stop position when setting the zero
point, set OL48 = 0.
The set value of OL48 is valid only when the ZSET command is executed.
The following flowchart shows the procedure.

START

Turn ON the Servomotor (Servo ON).

Jog to near the zero point.

Move to the zero point in STEP Mode.

Repeat for
each axis.

Set the desired position in OL48.

Position Management with an Absolute Encoder

Set the zero point with the ZSET command.

NO
Settings completed for all axes?

YES

END

8-21
 8.4 Position Management Method for Each Machine Operation Type
Infinite-length Operation with Non-simple Absolute Infinite Axis Position Management

Position Management
For non-simple absolute infinite axis position management, the Machine Controller performs position
management in the following manner after the zero point is set.
1. The pulse position and encoder position are always stored as paired information in the battery
backup memory.

2. The data in step 1 above is used as the power OFF pulse position and the power OFF encoder
position when the power supply is turned ON again.

3. The pulse position is calculated from the relative position of the encoder with the following for-
mula:
Pulse position = Power OFF pulse position + (Encoder position − Power OFF encoder position)*
* The portion in parentheses ( ) represents the travel distance (relative encoder position) while the power supply is OFF.

• Encoder Position
The encoder position is the absolute encoder position information (Multiturn data × Number of
encoder pulses + Initial incremental pulses (position within one rotation)).
Terms
The unit for this position information is pulses.
The actual position management is performed in the set reference units, so you do not need to be
concerned about it.
• Pulse Position
The pulse position is the position information managed by the Machine Controller converted into
pulses.
The unit for this position information is pulses.
The actual position management is performed in the set reference units, so you do not need to be
concerned about it.

Precautions for Parameter Settings

The names of some of the parameters in the Machine Controller and SERVOPACK are different even
though they have the same meaning. Set the values of these parameters to the same values on the Machine
Controller and SERVOPACK.

 Encoder Selection
Set the parameters as listed in the following table for an axis that performs absolute position detection.
Type Parameter Set Value
Fixed Parameter No. 30
Machine Controller 1: Absolute encoder
(Encoder Selection)
Σ-V-series SER- Parameter: Pn002.2 (Abso-
0: Use absolute encoder as an absolute encoder.
VOPACK lute Encoder Usage)

8-22
 8.4 Position Management Method for Each Machine Operation Type
Infinite-length Operation with Non-simple Absolute Infinite Axis Position Management

 Number of Pulses per Motor Rotation

Refer to the following table and set fixed parameter No. 36 (Number of Pulses Per Motor Rotation)
according to the number of encoder bits (resolution). This setting can be used for all SERVOPACK mod-
els.
Encoder Resolution Fixed Parameter No. 36 (Number of
(Number of Bits) Pulses Per Motor Rotation)
12 4,096
13 8,192
15 32,768
16 65,536
17 131,072
20 1,048,576
22 4,194,304
24 16,777,216

The set value of the SERVOPACK encoder output pulse rate (Pn212) is not used for control with the
Machine Controller. It is not necessary to change the set value of Pn212.

 Maximum Number of Absolute Encoder Rotations

These parameters set the maximum number of absolute encoder rotations that is managed by the SERVO-
PACK and Machine Controller.
For a finite-length axis, set the SERVOPACK multiturn limit (Pn205) to the maximum value that can be
set. Set the Machine Controller’s maximum number of absolute encoder rotations (fixed parameter No.
38) to the same value as Pn205 in the SERVOPACK.
The set value when the system is used with the Σ-V- or Σ-7-series SERVOPACK is given in the following
table.

Position Management with an Absolute Encoder

Type Parameter Set Value
Fixed parameter No. 38 (Maximum Number of Absolute Match the Pn205 set
Machine Controller
Encoder Rotations) value.
Σ-V-series or Σ-7-series
Parameter Pn205 (Multiturn Limit Setting) 65,534 or less
SERVOPACK

Set the parameters to the same values in the above table to ensure that correct motion control is per-
formed and to prevent position variation.
Important A check will be performed to see whether or not both values match.

8-23
 8.4 Position Management Method for Each Machine Operation Type
Infinite-length Operation with Non-simple Absolute Infinite Axis Position Management

Creating Ladder Programming for Infinite Axis Position Manage-

ment
If simple absolute infinite axis position management is not used, special ladder programming is required
for operation and for when the power supply to the system is turned ON.

 During Operation
If simple absolute infinite axis position management is not used, special ladder programming is required
for normal operation and for when the power supply to the system is turned OFF and ON again.
1. Check to make sure that bit 5 (Zero Point Return/Setting Completed (ZRNC)) in the IW0C
monitor parameter is 1 (Zero point return/setting completed).
If it is not, it means that the power OFF pulse position, power OFF encoder position, and all position data
have not been set. In this case, refer to the following section and either set up the position information again
or execute the ZSET motion command to establish new position information.
8.3 Reading Position Data When the Power Supply Is Turned ON (page 8-6)

2. Use the ladder program to save the following monitor parameters in the high-speed scan to M
registers backed up by a battery.
• All four words of the IL5E/IL60 monitor parameters (Power OFF Encoder Position)
• All four words of the IL62/IL64 monitor parameters (Power OFF Pulse Position)
The M registers that are used to save the above monitor parameters are structured as shown below.

Bit 0 Toggle Buffer Enabled Flag (0: Disabled, 1: Enabled)

Bit 1 Toggle Buffer Selection Flag (0: Buffer 0, 1: Buffer 1)
MW Position Information Re-setup Request Flag (0: Completed, 1:
Bit 2
Request)
Position Information Save Request Flag (0: Prohibited, 1:
Bit 3
Request)
MW+1 Not used.
Lower 2 words
ML+2 Monitor Parameter: Encoder position IL5E
ML+4 when the power is OFF Upper 2 words
IL60
Buffer 0
Lower 2 words
ML+6 Monitor Parameter: Pulse position IL62
ML+8 when the power is OFF Upper 2 words
IL64
Lower 2 words
ML+10 Monitor Parameter: Encoder position IL5E
ML+12 when the power is OFF Upper 2 words
IL60
Buffer 1
Lower 2 words
ML+14 Monitor Parameter: Pulse position IL62
ML+16 when the power is OFF Upper 2 words
IL64

Two sets of buffers are needed to save the power OFF encoder position and the power OFF pulse posi-
tion because the program may end without setting all four words of the position information if the
Note power supply is turned OFF during the high-speed scan.

8-24
 8.4 Position Management Method for Each Machine Operation Type
Infinite-length Operation with Non-simple Absolute Infinite Axis Position Management

The following flowchart shows the procedure for storing this information to these buffers.

Start of high-speed scan drawing

YES Is this the first scan after

the high-speed scan started?
NO

Is operation not ready and YES

is there a current alarm?
NO Position Information Save Request Flag = 0

Is the zero point setting YES

completed status ON?
NO Position Information Save Request Flag = 1

Has the set zero point operation been completed NO

and is the Position Information Save Request Flag set to 1?
YES

Is the Toggle Buffer Enabled Flag set to 1?

NO
Is the Toggle Buffer Selection Flag set to 1?
YES
Copy the value of the monitor Copy the value of the monitor
parameters to buffer 0. parameters to buffer 1.

Set the Toggle Buffer Selection Flag to 0. Set the Toggle Buffer Selection Flag to 1.

Position Management with an Absolute Encoder

End of high-speed scan drawing

The example ladder programming on the next page is for the above flowchart. Axis 1 of circuit number 1
is used here. Change the motion parameter register address if the circuit and/or axis numbers are different.

8-25
 8.4 Position Management Method for Each Machine Operation Type
Infinite-length Operation with Non-simple Absolute Infinite Axis Position Management

8-26
 8.4 Position Management Method for Each Machine Operation Type
Infinite-length Operation with Non-simple Absolute Infinite Axis Position Management

 When the Power Supply Is Turned ON

Set the position information again from a ladder program in the high-speed scan as shown below when the
system power supply is turned OFF and ON again. This operation must be performed when the power sup-
ply to the Machine Controller or to the SERVOPACK is turned OFF and ON again.
1. Store the Power OFF Pulse Position and Power OFF Encoder Position values that are saved in
the M registers to the following setting parameters.
• All four words of the OL5E/OL60 setting parameters (Power OFF Encoder Position)
• All four words of the OL62/OL64 setting parameters (Power OFF Pulse Position)
Store the contents of the buffers selected by the Toggle Buffer Selection Flag.

2. Set bit 7 (Absolute Infinite-length Position Information Load Request (Request ABS rotary pos.
load)) in the OW00 setting parameter to 0 (OFF), 1 (ON), and then 0 (OFF) again.
This allows all position information to be set. Bit 5 (Zero Point Return/Setting Completed (ZRNC)) in the
IW0C monitor parameter changes to 1 (Zero point return/setting completed) and the following mon-
itor parameters are enabled.
• All four words of the IL5E/IL60 monitor parameters (Power OFF Encoder Position)
• All four words of the IL62/IL64 monitor parameters (Power OFF Pulse Position)
The system creates position information using the following formula when the Absolute Infinite-length
Position Information Load Request bit changes to 1.
• Pulse position = Power OFF pulse position + (Encoder position − Power OFF encoder position)*
* The portion in parentheses ( ) represents the travel distance while the power supply is OFF.

Position Management with an Absolute Encoder

8-27
 8.4 Position Management Method for Each Machine Operation Type
Infinite-length Operation with Non-simple Absolute Infinite Axis Position Management

The following flowchart shows the procedure for storing the position information in the setting parameters
and for requesting to load the absolute infinite axis position information.

Start of high-speed scan drawing

Is this the first scan after the high-speed scan started? NO

Or is the Servo power reset signal set to 1?
YES
NO
Is the Toggle Buffer Enabled Flag set to 1?
YES

Position Information Re-setup Request Flag = 1 Position Information Re-setup Request Flag = 0

NO Is operation ready and is the Position

Information Re-setup Request Flag set to 1?
YES

Is the Absolute Infinite Axis Position NO

Information Reset Completed Flag set to 0?

YES
NO
Is the Toggle Buffer Selection Flag set to 1?
YES

Copy the value of buffer 1 Copy the value of buffer 0 Absolute Infinite Axis Position
to the setting parameters. to the setting parameters. Information Reset Request Flag = 0

Absolute Infinite Axis Position

Information Reset Request Flag = 1 Position Information Re-setup Enabled Flag = 0

Position Information Save Request Flag = 1

End of high-speed scan drawing

8-28
 8.4 Position Management Method for Each Machine Operation Type
Infinite-length Operation with Non-simple Absolute Infinite Axis Position Management

The following example ladder programming is for the flowchart on the previous page. Axis 1 of circuit
number 1 is used here. Change the motion parameter register address if the circuit and/or axis numbers are
different.

There are no restrictions in the execution order for ladder programs H10 and H11 when an absolute
encoder is used as an infinite-length axis.
Note

Position Management with an Absolute Encoder

8-29
 8.4 Position Management Method for Each Machine Operation Type
Infinite-length Operation with Non-simple Absolute Infinite Axis Position Management

8-30
 8.5 Multiturn Limit Setting Disagreement Detection
Overview

8.5 Multiturn Limit Setting Disagreement Detection

Overview
Multiturn limit setting disagreement detection is used to compare the set values of fixed parameter No. 38
(Maximum Number of Absolute Encoder Rotations) and common parameter 24 (Multiturn Limit Setting).
If there is a disagreement between the set values, a warning will be reported.

Machine Controller

Fixed Parameters Common Parameters*

SERVOPACK

No. 38: Maximum MECHATROLINK-III

24: Multiturn
Number of Absolute Compared. Limit Setting
Encoder Rotations

Monitor Parameters

Disagreement
IL02 bit 2:
Fixed Parameter detected.
Error

Motor

* The common parameters are set in the SERVOPACK from the host controller via MECHATROLINK communications.

Position Management with an Absolute Encoder

Applicable Versions
The following tables list the firmware and Engineering Tool versions that support multiturn limit setting
disagreement detection.

 MP3000-series Machine Controllers

Product Model Version
MP3200/CPU-201 JEPMC-CP3201-E
MP3200/CPU-202 JEPMC-CP3202-E Version 1.10 or later
MP3300/CPU-301 for 16 axes JAPMC-CP3301-1-E

 Engineering Tool 8
Product Model Version
MPE720 Ver.7 CPMC-MPE780 Version 7.26 or later

8-31
 8.5 Multiturn Limit Setting Disagreement Detection
Related Parameters

Related Parameters
For a finite-length axis, set this parameter as shown below. This parameter does not need to be set for an
infinite-length axis. A check will always be performed to see if there is a multiturn limit setting disagree-
ment regardless of the setting of this parameter.
Fixed Parameter Name Description
Finite-length Multiturn Limit Use this bit to specify whether or not to detect a multiturn
No.2 Bit 5 Setting Disagreement Detec- limit setting disagreement during finite-length operation.
tion Mask 0: Do not detect, 1: Detect

Multiturn Limit Setting Disagreement Detection Timing

A check will be made for a multiturn limit setting disagreement when the operations in the following table
are performed.
No. Operation Condition
1 Starting from flash memory
2 Writing fixed parameters
3 Saving MECHATROLINK definitions None
4 Transferring module configuration definitions
5 Turning ON OW00 bit C (Reset Network)
Turning ON OW00 bit E (Reset Communica-
6 IL02 bit 2 (Fixed Parameter Error) is OFF.
tions)
A communications error has occurred and
7 Turning ON OW00 bit F (Clear Alarm)
IL02 bit 2 (Fixed Parameter Error) is OFF.

Checking for a Multiturn Limit Setting Disagreement

A warning will occur when a multiturn limit setting disagreement is detected. The parameters will have
the following values.
Register Parameter Name Value
IL02 Bit 2 Fixed Parameter Setting Error 1: ON (Outside setting range)
1038 (fixed parameter No. 38 (Maximum Number of
IW01 Out-of-range Parameter Number
Absolute Encoder Rotations))
Motion Operation Ready (Motion
IW00 Bit 0 0: OFF (Motion operation not ready)
controller operation ready)

8-32
 8.5 Multiturn Limit Setting Disagreement Detection
Clearing the Warning

Clearing the Warning

Change the set value of either fixed parameter No. 38 (Maximum Number of Absolute Encoder Rotations)
or common parameter 24 (Multiturn Limit Setting), and clear the warning in IL02 bit 02 (Fixed
Parameter Error).

Changing the Set Value of Fixed Parameter No. 38

The warning will be cleared when the fixed parameters are written.
1. Set fixed parameter No. 38 in the SERVOPACK where the warning occurred to the value of com-
mon parameter 24.

2. Write the fixed parameters.

This concludes the procedure.

Changing the Set Value of Common Parameter 24 (Multiturn Limit

Setting)
The warning will be cleared when the power supply to the Machine Controller is turned OFF and ON
again. The following procedure describes how to clear the warning when a Σ-V-series SERVOPACK is
connected.
1. Set common parameter 24 to the value of fixed parameter No. 38 using the Digital Operator.
2. Turn the power supply to the SERVOPACK OFF and ON again
A multiturn limit disagreement alarm (A.CC0) will occur in the SERVOPACK.

3. Execute Fn013 (Multiturn Limit Setting) from the Digital Operator.

Position Management with an Absolute Encoder

4. Turn the power supply to the SERVOPACK OFF and ON again
The A.CC0 alarm in the SERVOPACK will be cleared.

5. Turn the power supply to the Machine Controller OFF and ON again.
This concludes the procedure.

8-33
 Stepping Motor
Operation
9
Of the information that is necessary to connect a Stepping Motor
Drive, this chapter provides only the information that is different
from when a SERVOPACK is connected.

9.1 Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-2

9.2 Stepping Motor Drive Connection Specifications . .9-3

9.3 Parameter Support Table . . . . . . . . . . . . . . . . . . . 9-4

Fixed Parameter Table . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-4
Setting Parameter Table . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-7
Monitor Parameter Table . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-17

9.4 Link Assignments . . . . . . . . . . . . . . . . . . . . . . . . 9-26

9.5 Common Parameters . . . . . . . . . . . . . . . . . . . . . 9-27

 9.1 Overview

9.1 Overview
A Stepping Motor Drive can be operated with the same commands as a SERVOPACK. Operate a Stepping
Motor Drive according to the instructions in this manual.
This chapter provides only the information that is different from when a SERVOPACK is connected.

9-2
 9.2 Stepping Motor Drive Connection Specifications

9.2 Stepping Motor Drive Connection Specifications

The following table lists the specifications for a Stepping Motor Drive connection.
Item Description
MP3200 SVC32: Version 1.18 or later
Applica- SVC/SVC32
MP3300 SVC/SVC32: Version 1.18 or later
ble models
Engineering Tool MPE720 Version 7: Version 7.33 or later
Number of Inverters that can be SVC: 16 max.
connected SVC32: 32 max.
SVC: 125 μs, 250 μs, 500 μs, or 1 ms
Communications cycle
SVC32: 125 μs, 250 μs, 500 μs, 1 ms, 1.5 ms, 2 ms, or 3 ms
Fixed parameters (usage condition settings)
Interface Setting parameters (updating references and output data)
Monitor parameters (updating monitor and input data)
Self configuration Supported.
Compliant with the MECHATROLINK-III standard Stepping Motor Drive
Others
profile specifications.

Stepping Motor Operation

9-3
 9.3 Parameter Support Table
Fixed Parameter Table

9.3 Parameter Support Table

Fixed Parameter Table

The following table lists the SVC, SVC32, SVR, and SVR32 fixed parameters.
Refer to the pages in the Detailed Information column for details on the fixed parameters in the following table.

Stepping Servo- Detailed

No. Name Description
Motor motor Information
0: Normal Operation Mode  
1: Unused Axis (Axis unused)   Operation
Operation Mode Mode Selec-
0 2: Simulation Mode  
Selection tion (page 4-
3: SERVOPACK Transmission Reference Mode   30)
4 and 5: Reserved for system. – –
Bit 0: Axis Selection
 
0: Finite-length axis, 1: Infinite-length axis*1
Bit 1: Enable Positive Software Limit (Soft limit
(positive direction) enable/disable)  
0: Disabled, 1: Enabled
Bit 2: Enable Negative Software Limit (Soft
limit (negative direction) enable/disable)  
0: Disabled, 1: Enabled
Bit 3: Enable Positive Overtravel (Overtravel
positive direction enable/disable)  
0: Disabled, 1: Enabled
Bit 4: Enable Negative Overtravel (Overtravel
negative direction enable/disable)  
0: Disabled, 1: Enabled
Bits 5 to 7: Reserved for system. – – Function
Function Selec- Bit 8: Interpolation Segment Distribution Pro- Selection
1
tion Flags 1 cessing   Flags 1
0: Enabled, 1: Disabled (page 4-31)
Bit 9: Simple Absolute Infinite Axis Position
Management (Simple ABS rotary Pos. mode)  
0: Disabled, 1: Enabled*1
Bit A: SERVOPACK Parameter Auto-Write
(User constants self-writing function)  
0: Enabled, 1: Disabled
Bit B: User-specified SERVOPACK Parameter
Auto-Write (User select User constants self-writ-
 
ing function)
0: Disabled, 1: Enabled
Bit C: Software Limit Parameter Selection (Soft
limit parameter selection)  
0: Fixed parameter, 1: Setting parameter
Bits D to F: Reserved for system. – –
Continued on next page.
*1. Always set this parameter to 0 for linear motors.

9-4
 9.3 Parameter Support Table
Fixed Parameter Table

Continued from previous page.

Stepping Servo- Detailed
No. Name Description
Motor motor Information
Bit 0: Mask Communications Error Detection
(Communication abnormality detection mask)  
0: Disabled, 1: Enabled Function
Function Selec- Selection
2 Bit 1: Mask Watchdog Error Detection (WDT
tion Flags 2 Flags 2
abnormality detection mask)  
(page 4-35)
0: Disabled, 1: Enabled
Bits 2 to F: Reserved for system. – –
3 – Reserved for system. – – −
0: Pulses
1: mm
Reference Unit
4 2: Degrees  
Selection*2
3: Inches
4: μm
Number of Digits
5 Below Decimal 1 = 1 digit  
Point Reference
Travel Distance Unit Selec-
per Machine Rota- tion (page 4-
1 = 1 reference unit  
tion (Rotary 35)
6 Motor)
Linear Scale Pitch
1 = 1 reference unit – 
(Linear Motor)
Servomotor Gear
8 1 = 1 revolution  
Ratio Term*3
Machine Gear
9 1 = 1 revolution  
Ratio Term*3
Infinite-length Infinite-
Axis Reset Posi- length Axis
10 tion 1 = 1 reference unit   Reset Posi-
*3
tion (page 4-
(POSMAX) 37)
Positive Software
12 1 = 1 reference unit   Software
Limit
Limits (page
Negative Soft- 4-38)
14 1 = 1 reference unit  
ware Limit
16 to
– Reserved for system. – – − Stepping Motor Operation
28
Motor Type Selec- 0: Rotary motor
29 – 
tion 1: Linear motor
0: Incremental encoder SERVO-
1: Absolute encoder PACK Set-
2: Absolute encoder used as incremental encoder tings (page
30 Encoder Selection   4-39)
(Absolute encoder (Incremental encoder is
used))
3: Reserved for system.
31 to 9
– Reserved for system. – – −
33
Continued on next page.
*2. For linear motors, you can use 0 (pulses), 1 (mm), or 4 (μm). If 2 (degrees) or 3 (inches) is selected, the unit is con-
verted to mm.
*3. This parameter is not valid for linear motors.

9-5
 9.3 Parameter Support Table
Fixed Parameter Table

Continued from previous page.

Stepping Servo- Detailed
No. Name Description
Motor motor Information
Rated Motor
Speed (Rotary 1 = 1 min-1  
34 Motor)
Rated Speed (Lin-
1 = 0.1 m/s – 
ear Motor)
Number of Pulses
Per Motor Rota-
1 = 1 pulse/rev  
tion (Rotary Encoder Set-
Motor) tings (page
36
Number of Pulses 4-39)
Per Linear Scale
1 = 1 pulse/scale pitch – 
Pitch (Linear
Motor)
Maximum Num-
ber of Absolute
38 Encoder Rota- 1 = 1 revolution  
tions*3*4
40 to
− Reserved for system. − − −
41
Feedback Speed
Encoder Set-
Movement Aver-
42 1 = 1 ms   tings (page
aging Time Con-
4-39)
stant
43 − Reserved for system. − − −
User-specified
Specifies the SERVOPACK parameter number
44 SERVOPACK  
to apply automatically. Encoder Set-
Parameter Number
tings (page
User-specified Specifies the data size of the above SERVO-
4-39)
45 SERVOPACK PACK parameter.  
Parameter Size 1=1W
*3. This parameter is not valid for linear motors.
*4. Set this parameter to 0 when a direct-drive motor is used.

9-6
 9.3 Parameter Support Table
Setting Parameter Table

Setting Parameter Table

The following table lists the SVC, SVC32, SVR, and SVR32 setting parameters.

Information • Refer to the pages in the Detailed Information column for details on the setting parameters in the
following table.
• “OW00” indicates the first output register address plus 00. Refer to the following section
for the procedure to determine the first address of the output registers.
4.1 Motion Parameter Register Addresses (page 4-2)

Detailed
Register Stepping Servo-
Name Description Informa-
Address Motor motor
tion
Bit 0: Servo ON
 
0: OFF, 1: ON
Bit 1: Machine Lock
0: Machine lock mode released  
1: Machine lock mode
Bits 2 to 3: Reserved for system. − −
Bit 4: Latch Detection Request (Latch detection demand)
 
0: OFF, 1: ON
Bit 5: Reserved for system. − −
Bit 6: Number of POSMAX Turns Preset Request
(POSMAX turn number presetting demand)  
0: OFF, 1: ON*1
Bit 7: Absolute Infinite-length Position Information Load
Request (Request ABS rotary pos. load)  
0: OFF, 1: ON*1
Operation
Operation Bit 8: Positive External Torque/Force Limit Input Command
OW00 Command (Forward outside limiting torque/thrust input)   Settings
Settings 0: OFF, 1: ON (page 4-42)
Bit 9: Negative External Torque/Force Limit Input
(Reverse outside limiting torque/thrust input)  
0: OFF, 1: ON
Bit A: Reserved for system. − −
Bit B: Reset Integration (Integration reset)
 
0: OFF, 1: ON
Bit C: Reset Network (Network reset)
  Stepping Motor Operation
0: OFF, 1: ON
Bit D: Latch Completed Status Clear Request
(Latch completion status clear request)  
0: OFF, 1: ON
Bit E: Reset Communications (Communication reset)
 
0: OFF, 1: ON
Bit F: Clear Alarm (Alarm clear)
 
0: OFF, 1: ON
Continued on next page.
*1. Always set this parameter to 0 for linear motors. 9

9-7
 9.3 Parameter Support Table
Setting Parameter Table

Continued from previous page.

Detailed
Register Stepping Servo-
Name Description Informa-
Address Motor motor
tion
Bit 0: Excessive Deviation Error Level Setting
 
0: Alarm, 1: Warning
Bits 1 to 2: Reserved for system. − −
Bit 3: Speed Loop P/PI Switch
  Mode Set-
Mode Settings 0: PI control, 1: P control
OW01 tings 1
1 Bit 4: Switch Gain (Gain switch)
  (page 4-45)
0: OFF, 1: ON
Bit 5: Switch Gain 2 (Gain switch 2)*2
 
0: OFF, 1: ON
Bits 6 to F: Reserved for system. − −
Bits 0 to 7: Reserved for system. − −
Bits 8 to F: Stop Mode Selection
Mode Set-
Mode Settings 0: Stop according to the Linear Deceleration Rate/Decel-
OW02 tings 2
2 eration Time Constant parameter (Decelerate to a stop   (page 4-46)
according to the linear deceleration time constant).
1: Stop immediately. (Stop reference output.)
Bits 0 to 3: Speed Unit Selection
0: Reference units/s (Reference unit/sec)
1: 10n reference units/min  
2: Percentage of rated speed (1 = 0.01%)
3: Percentage of rated speed (1 = 0.0001%)
Bits 4 to 7: Acceleration/Deceleration Rate Unit Selec-
tion
  Function
Function Set- 0: Reference units/s2
OW03 Settings 1
tings 1 1: ms (page 4-47)
Bits 8 to B: Filter Type Selection
0: No filter (Filter none)
 
1: Exponential acceleration/deceleration filter
2: Moving average filter
Bits C to F: Torque Unit Selection
0: Percentage of rated torque (1 = 0.01%)  
1: Percentage of rated torque (1 = 0.0001%)
Continued on next page.
*2. Currently under development.

9-8
 9.3 Parameter Support Table
Setting Parameter Table

Continued from previous page.

Detailed
Register Stepping Servo-
Name Description Informa-
Address Motor motor
tion
Bits 0 to 3: Latch Detection Signal Selection  
0: − − 
1: − − 
2: Phase-C pulse input signal  
3: /EXT1  
4: /EXT2  
5: /EXT3   Function
Function Set-
OW04 Bits 4 to 7: External Positioning Signal Setting   Settings 2
tings 2
0: − −  (page 4-48)
1: − − 
2: Phase-C pulse input signal  
3: /EXT1  
4: /EXT2  
5: /EXT3  
Bits 8 to F: Reserved for system. − −
Bit 0: Reserved for system. − −
Bit 1: Disable Phase Reference Calculation
 
0: Enabled, 1: Disabled
Bit 2: External Positioning Final Travel Distance Write
Selection Function
Function Set-  
OW05 0: Do not automatically apply Settings 3
tings 3
1: Automatically apply (page 4-49)
Bits 3 to A: Reserved for system. − −
Bit B: Zero Point Return Input Signal
 
0: OFF, 1: ON
Bits C to F: Reserved for system. − −
M-III Ven-
dor-spe-
M-III Vendor-
cific Servo
specific Servo
OW06 This parameter is used as a vendor-specific output area.   Command
Command
Output Sig-
Output Signal
nal (page
4-50)
OW07 − Reserved for system. − − − Stepping Motor Operation
Continued on next page.

9-9
 9.3 Parameter Support Table
Setting Parameter Table

Continued from previous page.

Detailed
Register Stepping Servo-
Name Description Informa-
Address Motor motor
tion
0: NOP (No Operation) (No command)  
1: POSING (Positioning)  
2: EX_POSING (External Positioning)  
3: ZRET (Zero Point Return)  
4: INTERPOLATE (Interpolation)  
5: ENDOF_INTERPOLATE (Last Interpolation Seg-
 
ment)
6: LATCH (Latch) (Interpolation mode with latch input)  
7: FEED (Jog) (Jog mode)  
8: STEP (STEP Operation) (Relative position 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 Feedforward)  
17: PRM_RD (Read SERVOPACK Parameter) (Read
 
user constant)
Motion
Motion Com- 18: PRM_WR (Write SERVOPACK Parameter) (Write
OW08   Commands
mands user constant) (page 4-51)
19: ALM_MON (Monitor Alarms) (Alarm monitor)  
20: ALM_HIST (Monitor Alarm History) (Alarm history
 
monitor)
21: ALMHIST_CLR (Clear Alarm History)  
22: Reserved for system. − −
23: VELO (Issue Speed Reference) (Speed reference)  
24: TRQ (Issue Torque/Force Reference) (Torque/Thrust
 
reference)
25: PHASE (Issue Phase Reference) (Phase reference)  
26: KIS (Change Position Loop Integral Time Constant)  
27: PPRM_WR (Write Non-volatile Parameter) (Stored
 
parameter write)
28 to 33: Reserved for system. − −
34: EX_FEED
(Jog with External Positioning) (Jog mode with external  
positioning)
35: MEM_RD (Read Memory)  
36: MEM_WR (Write Memory)  
37: PMEM_RD (Read Non-volatile Memory)  
38: PMEM_WR (Write Non-volatile Memory)  
Continued on next page.

9-10
 9.3 Parameter Support Table
Setting Parameter Table

Continued from previous page.

Detailed
Register Stepping Servo-
Name Description Informa-
Address Motor motor
tion
Bit 0: Hold Command (Holds a command)
 
0: OFF, 1: ON
Bit 1: Cancel Command (Interrupt a command)
 
0: OFF, 1: ON
Bit 2: Travel Direction
(Moving direction (JOG/STEP))  
0: Forward, 1: Reverse
Bit 3: Zero Point Return Direction Selection
 
0: Reverse, 1: Forward
Bit 4: Latch Zone Enable (Latch zone effective selection)
 
0: Disabled, 1: Enabled
Bit 5: Position Reference Type
Motion
Motion Com- 0: Incremental value addition method (Incremental value Command
OW09 mand Control add method)   Control
Flags 1: Absolute value specification method (Absolute value Flags (page
set method) 4-52)
Bit 6: Electric Cam Phase Compensation Type (Phase
Compensation Type)
0: Incremental addition method (Incremental value add
 
method)
1: Absolute value specification method (Absolute value
set method)
Bit 7: Reserved for system. − −
Bit 8: SERVOPACK Parameter Access Selection
(Access target servo driver user constant)
 
0: Vendor-specific parameters
1: Common parameters
Bits 9 to F: Reserved for system. − −
0: NOP (No Operation)  
1: PRM_RD (Read SERVOPACK Parameter) (Read user
 
constant)
2: PRM_WR (Write SERVOPACK Parameter) (Write Motion
 
Motion Sub- user constant) Subcom-
OW0A
commands 3: INF_RD (Read Device Information)   mands
4: SMON (Monitor Status)   (page 4-54)
Stepping Motor Operation
5: FIXPRM_RD (Read Fixed Parameter)  
6: FIXPRM_CHG (Change Fixed Parameter)
 
(Write fixed parameter)
OW0B − Reserved for system. − − −
Torque/Force
Reference
Setting or The unit is set in bits C to F (Torque Unit Selection) of
OL0C  
Torque Feed- OW03.
forward Com- Torque Ref-
pensation erence 9
(page 4-54)
Speed Limit
for Torque/
OW0E 1 = 0.01% (percentage of rated speed)  
Force Refer-
ence
OW0F − Reserved for system. − − −
Continued on next page.

9-11
 9.3 Parameter Support Table
Setting Parameter Table

Continued from previous page.

Detailed
Register Stepping Servo-
Name Description Informa-
Address Motor motor
tion
Speed Refer- The unit is set in bits 0 to 3 (Speed Unit Selection) of Speed Ref-
OL10  
ence Setting OW03. erence Set-
ting (page
OW12 Speed Limit 1 = 0.01% (percentage of rated speed)   4-55)
OW13 − Reserved for system. − − −
Torque/
Torque/Force The unit is set in bits C to F (Torque Unit Selection) of
OL14   Force Limit
Limit OW03.
(page 4-57)
Second
Speed
Second Speed The unit is set in bits 0 to 3 (Speed Unit Selection) of
OL16   Compensa-
Compensation OW03.
tion (page
4-57)
Override
OW18 Override 1 = 0.01%  
(page 4-58)
OW19
to − Reserved for system. − − −
OW1B
Position
Position Ref- Reference
OL1C 1 = 1 reference unit  
erence Setting Setting
(page 4-58)
Position-
Positioning ing Com-
OL1E Completion 1 = 1 reference unit   pletion
Width Width
(page 4-59)
NEAR Sig-
NEAR Signal nal Output
OL20 1 = 1 reference unit  
Output Width Width
(page 4-60)
Excessive
Excessive
Deviation
Deviation
OL22 1 = 1 reference unit   Detection
Detection
Value (page
Value
4-61)
OL24 − Reserved for system. − − −
Position-
Positioning ing Com-
OW26 Completion 1 = 1 ms   pletion
Check Time Check Time
(page 4-61)
OW27 − Reserved for system. − − −
Phase
Phase Com-
Compensa-
OL28 pensation Set- 1 = 1 reference unit  
tion Setting
ting
(page 4-62)
Latch Zone
OL2A Lower Limit 1 = 1 reference unit  
Setting Latches
Latch Zone (page 4-62)
OL2C Upper Limit 1 = 1 reference unit  
Setting
Continued on next page.

9-12
 9.3 Parameter Support Table
Setting Parameter Table

Continued from previous page.

Detailed
Register Stepping Servo-
Name Description Informa-
Address Motor motor
tion
Position Loop
OW2E 1 = 0.1 /s  
Gain
Speed Loop
OW2F 1 = 1Hz  
Gain
Speed Feed-
OW30 forward Com- 1 = 0.01% (percentage of distribution segment)  
pensation
Gain and
Speed Com-
OW31 1 = 0.01% (percentage of rated speed)   Compensa-
pensation
tion (page
Position Loop 4-63)
OW32 Integral Time 1 = 1 ms  
Constant
OW33 − Reserved for system. − −
Speed Loop
Integration
OW34 1 = 0.01 ms  
Time Con-
stant
OW35 − Reserved for system. − − −
Linear Accel-
eration Rate/
The unit is set in bits 4 to 7 (Acceleration/Deceleration
OL36 Acceleration  
Rate Unit Selection) of OW03. Accelera-
Time Con-
stant tion/Decel-
eration
Linear Decel- Settings
eration Rate/ (page 4-66)
The unit is set in bits 4 to 7 (Acceleration/Deceleration
OL38 Deceleration  
Rate Unit Selection) of OW03.
Time Con-
stant
Filter Time
OW3A 1 = 0.1 ms  
Constant
Bias Speed Filter (page
for Indexed 4-68)
The unit is set in bits 0 to 3 (Speed Unit Selection) of
OW3B Deceleration/ − 
OW03.
Acceleration
Filter
Continued on next page.
Stepping Motor Operation

9-13
 9.3 Parameter Support Table
Setting Parameter Table

Continued from previous page.

Detailed
Register Stepping Servo-
Name Description Informa-
Address Motor motor
tion
0: DEC1 + C pulse
1: ZERO signal
2: DEC1 + ZERO signal
3: C pulse
4 to 10: Reserved for system.
11: C pulse only
Zero Point
12: P-OT + C pulse
OW3C Return  
13: P-OT only
Method
14: HOME LS + C pulse
15: HOME only
16: N-OT + C pulse
Zero Point
17: N-OT only
Return
18: INPUT + C pulse
(page 4-69)
19: INPUT only
Zero Point
OW3D Position Out- 1 = 1 reference unit  
put Width
Approach The unit is set in bits 0 to 3 (Speed Unit Selection) of
OL3E  
Speed OW03.
The unit is set in bits 0 to 3 (Speed Unit Selection) of
OL40 Creep Speed  
OW03.
Zero Point
OL42 Return Travel 1 = 1 reference unit  
Distance
STEP
STEP Travel Travel Dis-
OL44 1 = 1 reference unit  
Distance tance (page
4-70)
External
External Posi- Position-
tioning Final ing Final
OL46 1 = 1 reference unit  
Travel Dis- Travel Dis-
tance tance (page
4-71)
Zero Point
Position Off-
set in
OL48 1 = 1 reference unit  
Machine
Coordinate
System Coordinate
System Set-
Working
tings (page
OL4A Coordinate 1 = 1 reference unit  
4-71)
System Offset
Number of
POSMAX
OL4C*3 Turns Preset
1 = 1 revolution  
Data
Bits 0 to 3: Monitor 1 (Cannot be set.) SERVO-
SERVO-
PACK User
PACK User Bits 4 to 7: Monitor 2
OW4E   Monitor
Monitor Set- Bits 8 to B: Monitor 3 (Cannot be set.)
Setting
ting Bits C to F: Monitor 4 (page 4-72)
Continued on next page.
*3. This parameter is not valid for linear motors.

9-14
 9.3 Parameter Support Table
Setting Parameter Table

Continued from previous page.

Detailed
Register Stepping Servo-
Name Description Informa-
Address Motor motor
tion
SERVO-
PACK Alarm
OW4F Sets the number of the alarm to monitor.  
Monitor
Number
SERVO-
OW50 PACK Param- Sets the SERVOPACK parameter number.  
eter Number
SERVO-
OW51 PACK Param- Sets the size of the SERVOPACK parameter in words.  
eter Size
SERVO-
OL52 PACK Param- Sets the set value for the SERVOPACK parameter.  
eter Set Value SERVO-
PACK Ref-
Auxiliary erences
SERVO- (page 4-73)
OW54 Sets the SERVOPACK parameter number.  
PACK Param-
eter Number
Auxiliary
SERVO-
OW55 Sets the size of the SERVOPACK parameter in words.  
PACK Param-
eter Size
Auxiliary
SERVO-
OL56 Sets the set value for the SERVOPACK parameter.  
PACK Param-
eter Set Value
Address Set- Sets the target address for the MEM_RD, MEM_WR,
OL58  
ting PMEM_RD, and PMEM_WR motion commands.
OW5A − Reserved for system. − − −
00 hex: Disabled
01 hex: Vendor ID code SERVO-
Device Infor- PACK User
02 hex: Device code
OW5B mation Selec-   Monitor
03 hex: Device version
tion Code Setting
04 hex: Device information file version (page 4-72)
05 hex: Serial number
Auxiliary
Fixed Param- Sets the number of the fixed parameter to read with the
OW5C   Settings
eter Number FIXPRM_RD motion subcommand. Stepping Motor Operation
(page 4-76)
OW5D − Reserved for system. − − −
Continued on next page.

9-15
 9.3 Parameter Support Table
Setting Parameter Table

Continued from previous page.

Detailed
Register Stepping Servo-
Name Description Informa-
Address Motor motor
tion
Power OFF
Encoder Posi-
tion (Encoder
OL5E*4 position when 1 = 1 pulse  
power is off)
(Lower 2
Words)
Power OFF
Encoder Posi-
tion (Encoder
OL60*4 position when 1 = 1 pulse   Absolute
power is off) Infinite-
(Upper 2 length
Words) Position
Power OFF Manage-
Pulse Posi- ment Infor-
tion (Pulse mation
OL62*4 position when 1 = 1 pulse   (page 4-76)
power is off)
(Lower 2
Words)
Power OFF
Pulse Posi-
tion (Pulse
OL64*4 position when 1 = 1 pulse  
power is off)
(Upper 2
Words)
SERVO-
PACK
Positive Soft-
OL66 1 = 1 reference unit   Parame-
ware Limit
ters (page
4-78)
SERVO-
Negative PACK
OL68 Software 1 = 1 reference unit   Parame-
Limit ters (page
4-78)
Reserved for
OL6E Reserved for system. − − −
system.
User-speci- SERVO-
fied SERVO- PACK
Enter the value to set for the SERVOPACK parameter
OL70 PACK   Parame-
that is set with fixed parameter No. 44.
Parameter Set ters (page
Value 4-78)
Command
SERVO-
Buffers for
OW68 PACK
SERVO-
to This area is used for command data when MECHA- Transmis-
PACK Trans-  
TROLINK Servo commands are specified directly. sion Refer-
OW7F*5 mission
ence Mode
Reference
(page 4-78)
Mode
*4. Do not set this parameter for linear motors.
*5. These parameters are used in SERVOPACK Transmission Reference Mode only.

9-16
 9.3 Parameter Support Table
Monitor Parameter Table

Monitor Parameter Table

The following table lists the SVR, SVC32, SVR, and SVR32 monitor parameters.

Information • Refer to the pages in the Detailed Information column for details for monitor parameters in the
following table.
• “IW00” indicates the first input register address plus 00. Refer to the following section
for the procedure to determine the first address of the input registers.
4.1 Motion Parameter Register Addresses (page 4-2)

Detailed
Register Stepping Servo-
Name Description Informa-
Address Motor motor
tion
Bit 0: Motion Operation Ready (Motion con-
troller operation ready)
 
0: Motion operation not ready
1: Motion operation ready
Bit 1: Running with Servo ON (Running (At
servo on))
 
0: Stopped
1: Running with Servo ON
Bit 2: System Busy RUN Sta-
IW00 Run Status 0: System not busy   tus (page 4-
79)
1: System busy
Bit 3: Servo Ready
0: Servo not ready  
1: Servo ready
Bit 4: Latch Mode
0: Latch detection request not received  
1: Latch detection request received
Bits 5 to F: Reserved for system. − −
Out-of-
range
Out-of-range Parameter Setting parameter: 0 and higher
IW01   Parameter
Number Fixed parameter: 1000 and higher
Number
(page 4-80)
Continued on next page.

Stepping Motor Operation

9-17
 9.3 Parameter Support Table
Monitor Parameter Table

Continued from previous page.

Detailed
Register Stepping Servo-
Name Description Informa-
Address Motor motor
tion
Bit 0: Excessive Deviation
0: In normal deviation range  
1: Excessive deviation detected
Bit 1: Setting Parameter Error (Set parameter
error)
 
0: In setting range
1: Outside setting range
Bit 2: Fixed Parameter Error
0: In setting range  
1: Outside setting range
Bit 3: SERVOPACK Error
0: No warning  
1: Warning
Bit 4: Motion Command Setting Error
(Motion command set error)
 
0: No command setting error
1: Command setting error
Bit 5: Reserved for system. − −
Warnings
IL02 Warnings Bit 6: Positive Overtravel (Positive direction (page 4-81)
overtravel)
 
0: No positive overtravel
1: Positive overtravel occurred
Bit 7: Negative Overtravel (Negative direc-
tion overtravel)
 
0: No negative overtravel
1: Negative overtravel occurred
Bit 8: Servo ON Incomplete
0: Servo ON  
1: Servo ON incomplete
Bit 9: SERVOPACK Communications Warn-
ing
 
0: Communications normal
1: Communications error detected
Bit A: SERVOPACK Stop Signal Active
0: There is no stop signal input  
1: There is a stop signal input
Bits B to 1F: Reserved for system. − −
Continued on next page.

9-18
 9.3 Parameter Support Table
Monitor Parameter Table

Continued from previous page.

Detailed
Register Stepping Servo-
Name Description Informa-
Address Motor motor
tion
Bit 0: SERVOPACK Error
0: No SERVOPACK alarm  
1: SERVOPACK alarm occurred
Bit 1: Positive Overtravel
(Positive direction overtravel)
 
0: No positive overtravel
1: Positive overtravel occurred
Bit 2: Negative Overtravel
(Negative direction overtravel)
 
0: No negative overtravel
1: Negative overtravel occurred
Bit 3: Positive Software Limit
(Positive direction software limit)
 
0: Positive software limit not exceeded
1: Positive software limit exceeded
Bit 4: Negative Software Limit
(Negative direction software limit)
 
0: Negative software limit not exceeded
1: Negative software limit exceeded
Bit 5: Servo OFF
0: Servo ON  
1: Servo OFF
Bit 6: Positioning Time Exceeded
(Positioning time over) Alarms
IL04 Alarms  
0: No timeout (page 4-83)
1: Timeout occurred
Bit 7: Excessive Positioning Travel Distance
(Excessive positioning moving amount)
 
0: Normal travel distance
1: Excessive travel distance
Bit 8: Excessive Speed
0: Normal speed  
1: Excessive speed
Bit 9: Excessive Deviation
0: Normal following deviation  
Stepping Motor Operation
1: Excessive deviation
Bit A: Filter Type Change Error
0: No change error  
1: Change error occurred
Bit B: Filter Time Constant Change Error
0: No change error  
1: Change error occurred
Bit C: Reserved for system. − −
*1
Bit D: Zero Point Unset
(Zero point unsetting) 9
 
0: Zero point is not set
1: Zero point unset error occurred
Bits E and F: Reserved for system. − −
Continued on next page.
*1. This parameter is not valid for linear motors.

9-19
 9.3 Parameter Support Table
Monitor Parameter Table

Continued from previous page.

Detailed
Register Stepping Servo-
Name Description Informa-
Address Motor motor
tion
Bit 10: SERVOPACK Synchronized Com-
munications Error (Servo Driver Synch.
Comm. error)
 
0: No synchronized communications error
1: Synchronized communications error
occurred
Bit 11: SERVOPACK Communications Error
0: No consecutive synchronized communi-
cations errors  
1: Consecutive synchronized communica-
tions errors occurred
Bit 12: SERVOPACK Communications Tim-
eout Error
0: SERVOPACK command completed
 
within the specified time
1: SERVOPACK command not completed
within the specified time
Bit 13: Excessive Absolute Encoder Rota-
IL04 tions*1 (Excessive ABS encoder rotations)
 
(Continued 0: In valid range Alarms
Alarms
from previ- 1: Outside valid range (page 4-83)
ous page.) Bits 14 and 15: Reserved for system. − −
Bit 16: Scan Setting Error
0: No scan setting error  
1: Scan setting error occurred
Bits 17 to 1B: Reserved for system. − −
Bit 1C: Cyclic Communications Initialization
Incomplete
 
0: Initialization completed (default)
1: Initialization not completed
Bit 1D: Detected SERVOPACK Model Error
0: Match  
1: Mismatch
Bit 1E: Motor Type Setting Error
0: Match  
1: Mismatch
Bit 1F: Connected Encoder Model Error
0: Match  
1: Mismatch
IL06 − Reserved for system. − − −
Motion
Command
Motion Command
IW08 Same as OW08 (Motion Commands).   Response
Response Code
Code (page
4-87)
Continued on next page.
*1. This parameter is not valid for linear motors.

9-20
 9.3 Parameter Support Table
Monitor Parameter Table

Continued from previous page.

Detailed
Register Stepping Servo-
Name Description Informa-
Address Motor motor
tion
Bit 0: Command Execution Flag (BUSY)
0: READY (Completed)  
1: BUSY (Processing)
Bit 1: Command Hold Completed (HOLDL)
0: Command hold not completed  
1: Command hold completed
Bit 2: Reserved for system. − −
Motion
Bit 3: Command Error End (FAIL)
Command
IW09 Motion Command Status (Command error completed status)
  Status
0: Completed normally
(page 4-87)
1: Completed with an error
Bits 4 to 7: Reserved for system. − −
Bit 8: Command Execution Completed
(COMPLETE)
 
0: Normal execution not completed
1: Normal execution completed
Bits 9 to F: Reserved for system. − −
Motion
Subcom-
Motion Subcommand Same as OW0A (Motion Subcom- mand
IW0A  
Response Code mands). Response
Code (page
4-88)
Bit 0: Command Execution Flag
0: READY (Completed)  
1: BUSY (Processing)
Bits 1 to 2: Reserved for system. − −
Bit 3: Command Error End (Command error Motion
completed status) Subcom-
Motion Subcommand Sta-  
IW0B 0: Completed normally mand Sta-
tus
1: Completed with an error tus (page 4-
Bits 4 to 7: Reserved for system. − − 88)
Bit 8: Command Execution Completed
0: Normal execution not completed  
1: Normal execution completed
Stepping Motor Operation
Bits 9 to F: Reserved for system. − −
Continued on next page.

9-21
 9.3 Parameter Support Table
Monitor Parameter Table

Continued from previous page.

Detailed
Register Stepping Servo-
Name Description Informa-
Address Motor motor
tion
Bit 0: Distribution Completed (DEN) (Dis-
charging completed)
 
0: Distributing pulses
1: Distribution completed
Bit 1: Positioning Completed (POSCOMP)
0: Outside positioning completed range  
1: Within positioning completed range
Bit 2: Latch Completed (LCOMP)
0: Latch not complete  
1: Latch completed
Bit 3: Near Position (NEAR)
0: Outside near position range  
1: Within near position range
Bit 4: Zero Point Position (ZERO)
0: Outside zero point position range  
1: Within zero point position range
Bit 5: Zero Point Return/Setting Completed Position
(ZRNC) (Zero point return [setting] com- Manage-
Position Management
IW0C pleted) ment Sta-
Status  
tus (page 4-
0: Zero point return/setting not completed
89)
1: Zero point return/setting completed
Bit 6: Machine Locked (MLKL)
(During machine lock)
 
0: Machine Lock Mode released
1: Machine locked
Bit 7: Reserved for system. − −
Bit 8: Absolute Infinite-length Position Infor-
mation Load Completed (ABSLDE)*1
(ABS rotary pos. LOAD complete)  
0: Load not complete
1: Load completed
Bit 9: POSMAX Turn Preset Completed
(TPRSE)*1 (POSMAX turn preset complete)
 
0: Preset not completed
1: Preset completed
Bits A to F: Reserved for system. − −
IW0D − Reserved for system. − − −
Continued on next page.
*1. This bit is not valid for linear motors.

9-22
 9.3 Parameter Support Table
Monitor Parameter Table

Continued from previous page.

Detailed
Register Stepping Servo-
Name Description Informa-
Address Motor motor
tion
Machine Coordinate Sys-
IL0E tem Target Position 1 = 1 reference unit  
(TPOS)
Machine Coordinate Sys-
IL10 tem Calculated Position 1 = 1 reference unit  
(CPOS)
Machine Coordinate Sys-
IL12 tem Reference Position 1 = 1 reference unit  
(MPOS)
IL14 32-bit DPOS (DPOS) 1 = 1 reference unit  
Machine Coordinate Sys- Position
IL16 tem Feedback Position 1 = 1 reference unit   Informa-
(APOS) tion (page
Machine Coordinate Sys- 4-91)
IL18 tem Latch Position 1 = 1 reference unit  
(LPOS)
Position Deviation
IL1A 1 = 1 reference unit  
(PERR)
Target Position Incre-
ment Monitor (PDV)
IL1C 1 = 1 reference unit − 
(Target position differ-
ence monitor)
Number of POSMAX
IL1E*1 Turns
1 = 1 turn  

Reference
Speed Reference Output
IL20 pulse/s   Monitors
Monitor
(page 4-93)
IL22
to − Reserved for system. − − −
IL27
M-III Servo Command Reports the signal information that is input to
IL28   Reference
Input Signal Monitor the MECHATROLINK-III.
Monitors
M-III Servo Command Reports the Servo command information that (page 4-93)
IL2A  
Status is input to MECHATROLINK-III.
Bit 0: Drive Alarm (D_ALM) (Drive Alarm
Occurrence) Stepping Motor Operation
Bit 1: Drive Warning (D_WAR) (Drive
Warning Occurrence)
Bit 2: Command Ready (CMDRDY)
Bit 3: Alarm Clear Execution Completed
(ALM_CLR_CMP) (Alarm Clear Execution
IW2C M-III Command Status Completion)   SERVO-
PACK Sta-
Bits 4 and 5: Reserved for system.
tus (page 4-
Bits 6 and 7: Echo-back of Command ID
94)
(RCMD_ID)
Bits 8 to B: Command Error Status
9
(CMD_ALM) (Command Error)
Bits C to F: Communications Error Status
(COMM_ALM)
SERVOPACK Alarm Reports the alarm code from the SERVO-
IW2D  
Code PACK.
Continued on next page.
*1. This parameter is not valid for linear motors.

9-23
 9.3 Parameter Support Table
Monitor Parameter Table

Continued from previous page.

Detailed
Register Stepping Servo-
Name Description Informa-
Address Motor motor
tion
IW2E − Reserved for system. − − −
Bits 0 to 3: Monitor 1 (Cannot be set.)
SERVOPACK User Mon- Bits 4 to 7: Monitor 2
IW2F  
itor Information Bits 8 to B: Monitor 3 (Cannot be set.)
Bits C to F: Monitor 4
SERVOPACK User Mon- Reports the result of the selected monitor
IL30  
itor 2 item.
SERVOPACK User Mon- SERVO-
IL32 Reserved for system. − −
itor 3 PACK User
SERVOPACK User Mon- Reports the result of the selected monitor Monitor
IL34  
itor 4 item. Informa-
SERVOPACK Parameter tion (page
IW36 Reports the number of the target parameter.   4-96)
Number
Auxiliary SERVOPACK
IW37 Reports the number of the target parameter.  
Parameter Number
SERVOPACK Parameter
IL38 Reports the setting of the read parameter.  
Read Data
Auxiliary SERVOPACK
IL3A Reports the setting of the read parameter.  
Parameter Read Data
IW3C
to − Reserved for system. − − −
IW3E
Reports the type of the connected motor.
IW3F Motor Type 0: Rotary motor   SERVO-
1: Linear motor PACK
The unit is set in bits 0 to 3 (Speed Unit Informa-
IL40 Feedback Speed   tion (page
Selection) of OW03.
Torque/Force Reference The unit is set in bits C to F (Torque Unit 4-97)
IL42  
Monitor Selection) of OW03.
IW44
to − Reserved for system. − − −
IW55
Auxiliary
Stores the execution results of the Informa-
IL56 Fixed Parameter Monitor  
FIXPRM_RD motion subcommand. tion (page
4-99)
IW58
to − Reserved for system. − − −
IW5A
00 hex: Disabled
01 hex: Vendor ID code Auxiliary
Device Information Mon- 02 hex: Device code Informa-
IW5B  
itor Code 03 hex: Device version tion (page
04 hex: Device information file version 4-99)
05 hex: Serial number
IL5C − Reserved for system. − − −
Continued on next page.

9-24
 9.3 Parameter Support Table
Monitor Parameter Table

Continued from previous page.

Detailed
Register Stepping Servo-
Name Description Informa-
Address Motor motor
tion
Power OFF Encoder Posi-
tion (Encoder position
IL5E 1 = 1 pulse  
when power is off)
(Lower 2 Words)
Power OFF Encoder Posi- Absolute
tion (Encoder position Infinite-
IL60 1 = 1 pulse   length
when power is off)
(Upper 2 Words) Position
Manage-
Power OFF Pulse Position ment Infor-
(Pulse position when mation
IL62 1 = 1 pulse  
power is off) (Lower 2 (page 4-
Words) 100)
Power OFF Pulse Position
(Pulse position when
IL64 1 = 1 pulse  
power is off) (Upper 2
Words)
IW66
to − Reserved for system. − − −
IW6F
Reserved
IW70
Device Information Mon- Reports the information that was read with for Future
to  
itor Data the INF_RD subcommand. Use (page
IW7F
4-100)
SERVO-
PACK
IW68 Response Buffers for Transmis-
to SERVOPACK Transmis- Stores MECHATROLINK Servo responses.   sion Refer-
IW7F*2 sion Reference Mode ence Mode
(page 4-
101)
*2. These parameters are used in SERVOPACK Transmission Reference Mode only.

Stepping Motor Operation

9-25
 9.4 Link Assignments

9.4 Link Assignments

Use the following method to create link assignments to define the Module configuration of the Stepping
Motor Drive.
1. Execute self configuration on the Machine Controller.
The information of the stepping motor connected to the Machine Controller is recognized and displayed as
shown below on the Link Assignment Tab Page in the MECHATROLINK Communications Definition
Dialog Box. Refer to one of the following manuals for the procedure to execute self configuration.
Engineering Tool for MP2000 Series Machine Controller MPE720 Version 6 User’s Manual
(Manual No.: SIEP C880700 30)
Machine Controller MP2000/MP3000 Series Engineering Tool MPE720 Version 7 User’s Manual
(Manual No.: SIEP C880761 03)
Refer to the following chapter for the procedure to display the Link Assignment Tab Page.
Chapter 3 Definitions

VENDOR DEVICE PROFILE

*1 *2 Standard SteppingMotorDRV
UnKnown******** UnKnown********
*1. VENDOR gives the vendor ID of the stepping motor connected to the Machine Controller.
*2. DEVICE gives the device ID of the stepping motor connected to the Machine Controller.

2. Manually set VENDOR and DEVICE.

Select ****VENDOR and WildCardDevice as shown below.
VENDOR DEVICE PROFILE
****VENDOR WildCardDevice Standard SteppingMotorDRV

This concludes the procedure.

Information The ST#s that can be linked to a MECHATROLINK-III Standard Stepping Motor Drive profile are
the same as those that can be linked to the MECHATROLINK-III standard servo profile.

Number of Allocated SVC Module Circuits Linkable ST#s

1 circuit ST#1 to ST#16
2 circuits ST#1 to ST#32

9-26
 9.5 Common Parameters

9.5 Common Parameters

The following common parameters in the MECHATROLINK-III Standard Stepping Motor Drive profile
can be monitored.
Parameter No. Item
6A Starting speed
6B Operating current
6C Stopping current

When links have been assigned, the following common parameters will be displayed in the Stepping
Motor Parameter Tab Page.

Stepping Motor Operation

9-27
 Inverter Operation
10
This chapter describes the operations and the settings for com-
mands and parameters required when inverters are connected to a
Machine Controller.

10.1 Specifications for Communications with Connected Inverters . . 10-2

10.2 Setup Procedure . . . . . . . . . . . . . . . . . . . . . . . . 10-3

Check Items before Setup . . . . . . . . . . . . . . . . . . . . . . . . . . 10-3
Inverter Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10-4
I/O Options . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10-12

10.3 Precautions for Inverter Operation . . . . . . . . . . 10-14

10.4 Main Commands and Subcommands . . . . . . . 10-19

List of Main Commands and Subcommands . . . . . . . . . . . 10-19
Applicable Combinations of Main Commands and
Subcommands . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10-20
Main Command Details . . . . . . . . . . . . . . . . . . . . . . . . . . . 10-21
Subcommand Details . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10-30

10.5 Motion Parameter Details . . . . . . . . . . . . . . . . 10-37

Fixed Parameter List . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10-37
Setting Parameter List . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10-38
Monitoring Parameter List . . . . . . . . . . . . . . . . . . . . . . . . . 10-51
Inverter Output Data Details . . . . . . . . . . . . . . . . . . . . . . . . 10-64
Inverter Input Data Details . . . . . . . . . . . . . . . . . . . . . . . . . 10-64

10.6 Inverter Alarm and Warning Codes . . . . . . . . . 10-68

A1000 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10-68
V1000 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10-74
 10.1 Specifications for Communications with Connected Inverters

10.1 Specifications for Communications with Connected Inverters

The following table provides the specifications required when connecting Inverters through MECHA-
TROLINK.
Item Specification
SVC and SVC32 MP3200 SVC32: Version 1.12 or later
Function Modules MP3300 SVC/SVC32: Version 1.10 or later
Supported
Engineering Tool MPE720 Version 7: Version 7.23 or later
Models
A1000: S1018 or later using the SI-ET3 Communications Option Card
Inverter
V1000: S1022 or later using the SI-ET3/V Communications Option Card
SVC: 16 max.
Number of Connectable Inverters
SVC32: 32 max.
SVC: 125 μs, 250 μs, 500 μs, or 1 ms
Communications Cycle
SVC32: 125 μs, 250 μs, 500 μs, 1 ms, 1.5 ms, 2 ms, or 3 ms
Fixed parameters (To set application conditions)
Interface Setting parameters (To update references and output data)
Monitoring parameters (To update monitored or input data)
Self-configuration Function Available
Conforms to the MECHATROLINK-III standard inverter profile specifica-
Others
tions (64-byte*1 or 32-byte*2).
*1. Main commands and subcommands can be used.
*2. Only main commands can be used.

10-2
 10.2 Setup Procedure
Check Items before Setup

10.2 Setup Procedure

This section describes how to set up Inverters using the MPE720.

Check Items before Setup

Confirm the following items before you set up an Inverter.
• For information on how to set Inverter constants and user constants, refer to the relevant Inverter man-
ual.
• The b1-01 Inverter parameter (Frequency Reference Selection 1) must be set to 3 (Option Card or
Option Unit).
• Inverter parameter b1-02 (Run Command Selection 1) must be set to 3 (Option Card or Option Unit).
• The Inverter parameters shown in the following table must be correctly set.
Inverter
Default
Parame- Name Description
Setting
ter No.
20 to 3F hex: For A1000 software version S1018
or S1019, or V1000 software version S1022
F6-20 MECHATROLINK Station Address 21 hex
03 to EF hex: For A1000 software version S1020,
or V1000 software version S1023
0: 64 bytes
F6-21 MECHATROLINK Frame Size 0
1: 32 bytes
MECHATROLINK Monitor Selec-
F6-23 0 to FFFF hex 0 hex
tion (Code 0EH)
MECHATROLINK Monitor Selec-
F6-24 0 to FFFF hex 0 hex
tion (Code 0FH)
0: Decelerate to a stop (Decelerate to a stop with
the deceleration time in C1- 02)
Operation Selection at Watchdog 1: Coast to stop
F6-25 1
Error (E5) 2: Emergency stop (Decelerate to a stop with the
emergency stop time in C1-09)
3: Continue operation
Set the number of bUS errors detected by SI-ET3
MECHATROLINK bUS Errors
F6-26 or SI-ET3/V. 2
Detected
Setting range: 2 to 10
Inverter Operation

10

10-3
 10.2 Setup Procedure
Inverter Settings

Inverter Settings
Use the following flowchart to make the Inverter settings.
STEP 1: Define the Module Configuration of the Inverter
↓
STEP 2: Set the Required Fixed Parameters
↓
STEP 3: Confirm That the Inverter Is Ready for Operation
↓
STEP 4: Execute the Inverter Operation Control Command
↓
STEP 5: Set the Required Setting Parameters

The procedures for STEP 1 to STEP 5 are given below.

STEP 1: Define the Module Configuration of the Inverter

You can define the Module configuration of the Inverter either automatically or manually.

 Automatic Definition Method

1. Execute self configuration on the Machine Controller.
When you execute self configuration, information on the Modules that are connected to the Machine Con-
troller is detected and the Inverter I/O registers are assigned in the SVC definition file. Refer to the follow-
ing manuals for the procedure to execute self configuration.
Engineering Tool for MP2000 Series Machine Controller MPE720 Version 6 User’s Manual
(Manual No.: SIEP C880700 30)
Machine Controller MP2000/MP3000 Series Engineering Tool MPE720 Version 7 User’s Manual
(Manual No.: SIEP C880761 03)

2. Open the Module Configuration Tab Page. Refer to step 2 in  Manual Definition Method for the
procedure.

3. Confirm that communications have been established. Refer to steps 8 to 12 in the  Manual Defi-
nition Method for the procedure.
This concludes the procedure.

 Manual Definition Method

1. Start the MPE720 on a computer that is connected to the Machine Controller.
2. In the Main Window of the MPE720, click Setup - Module configuration from the Launcher, or
Module Configuration from the Start Menu.

10-4
 10.2 Setup Procedure
Inverter Settings

The Module Configuration Tab Page is displayed.

Inverter Operation

10

10-5
 10.2 Setup Procedure
Inverter Settings

3. Double-click the SVC32 cell in the Module Configuration Tab Page.

The MECHATROLINK Communications Definition Dialog Box is displayed.

4. Click the Link Assignment Tab.

The Link Assignment Tab Page is displayed.

5. Click the ▼ Button in the DEVICE Column and select 1000Series INVERTER from the list.
Note: Always select 1000Series INVERTER regardless of the model of the Inverter.

10-6
 10.2 Setup Procedure
Inverter Settings

6. Select Save from the File Menu to save the settings.

7. Click the Close Button to close the MECHATROLINK Communications Definition Dialog Box.
You will return to the Module Configuration Definition Tab Page.

8. Click the Expand Button (+) in the SVC32 cell in the Module Configuration Definition Tab Page.

9. Double-click the 1000Series INVERTER cell.

The Function List Dialog Box is displayed.

10. Click the Monitor Parameter Icon.

Inverter Operation

10

The Setting/Monitor Parameter Tab Page is displayed.

10-7
 10.2 Setup Procedure
Inverter Settings

11. Click the Expand Button (+) for Run status (IW00).

12. Confirm that bit 3 (Inverter Ready) is 1 (ON).

If it is 1 (ON), the Inverter is ready and communications were established successfully.
If it is 0 (OFF), communications have not been established between the Controller and Inverter. Check the
connection of the MECHATROLINK cable and check the settings on the MECHATROLINK Communica-
tions Definition Tab Page. Refer to the following section for details on the MECHATROLINK communica-
tions definitions.
3.2 MECHATROLINK Communications Definition (page 3-7)

This concludes the procedure.

STEP 2: Set the Required Fixed Parameters

1. Display the Function List Dialog Box using steps 8 and 9 in the  Manual Definition Method pro-
cedure for STEP 1.

2. Click the Fixed Parameter Icon.

The Fixed Parameter Tab Page is displayed.

3. Set the required parameters in the setting column.

10-8
 10.2 Setup Procedure
Inverter Settings

• If you manually set the Module configuration definitions for an Inverter, always save the fixed
parameters. If you do not save the fixed parameters, the current values of the setting parameters will
Note be restored to the default values when you restart the Inverter.

This concludes the procedure.

STEP 3: Confirm That the Inverter Is Ready for Operation

1. Display the Function List Dialog Box using steps 8 and 9 in the  Manual Definition Method pro-
cedure for STEP 1.

2. Click the Setting Parameter Icon.

The Setting/Monitor Parameter Tab Page is displayed.

3. Double-click the setting column cell for Run command setting (OW00).
The Edit Dialog Box will be displayed.

4. Set bit D (Drive Permission) of Run command setting (OW00) to 1 (ON).

5. Click the Apply Button.

6. In the monitor parameters on the same tab page, click the Expand Button (+) for Run status
(IW00).

7. Confirm that bit 0 (Operation ready) is 1 (ON).

Inverter Operation

10
Note: If the status is 0 (OFF), confirm that a command is not being executed in the Command setting parame-
ter (OW08).
If the current command is Inverter Drive Control, first select another command and then set bit D (Drive
Permission) in Run command setting (OW00) to 0 (OFF) and then change it back to 1 (ON).
This concludes the procedure.

10-9
 10.2 Setup Procedure
Inverter Settings

STEP 4: Execute the Inverter Operation Control Command

1. Double-click the setting column cell for Command (OW08) in the setting parameters.
The Edit Dialog Box will be displayed.

2. Click the ▼ Button and select Inverter Drive Control from the list.
Note: Wait for at least one high-speed scan after you set bit D (Drive Permission) in Run command setting
(OW00) to 1 (ON) in step 4 of the STEP 3 procedure before you make this setting.

The following parameters will be enabled when you execute the Inverter Drive Control command.
<Inverter Output> (Setup Parameters Tab Page) <Inverter Input> (Monitor Tab Page)
Input Command (OW10) Output Frequency (IW11)
Speed Reference (OW11) Output Current (IW12)
Torque Reference (OW12) M-III Inverter Command Status (IL2A)
M-III Command Status (IW2C)
Set the Output Data Option Selection (OW0C) and Input Data Option Selection (OW0D) to
enable the output data from OW13 to OW16 and the input data from IW13 to
IW1D as required.
Refer to the following section for details on the Output Data Option Selection and Input Data Option Selec-
tion parameters.
I/O Options (page 10-12)
This concludes the procedure.

10-10
 10.2 Setup Procedure
Inverter Settings

STEP 5: Set the Required Setting Parameters

1. Set the required parameters in the setting column on the Setting/Monitor Parameter Tab Page.

∗
1

∗
2

*1. This is the data that is output continually during execution of the Inverter Drive Control command.
*2. This data is enabled when the Inverter Drive Control command is being executed and the Output Data
Option Selection parameter (OW0C) is set to 1 (enable), or when the Inverter I/O Control subcom-
mand is being executed and the Auxiliary Output Data Option Selection parameter (OW0E) is set to
1 (enable).
Note: The Inverter I/O Control subcommand is valid only for MECHATROLINK-III 64-byte Mode.
This concludes the procedure.

Information Monitoring Method

You can monitor a parameter by double-clicking the monitor data column cell to monitor on the
Monitor Parameter Tab Page.

∗
1

∗
2
Inverter Operation

*1. This is the data that is input continually during execution of the Inverter Drive Control command.
*2. This data is enabled when the Inverter Drive Control command is being executed and the Input
Data Option Selection parameter (OW0D) is set to 1 (enable), or when the Inverter I/O Con-
trol subcommand is being executed and the Auxiliary Input Data Option Selection parameter
(OW0F) is set to 1 (enable).
Note: The Inverter I/O Control subcommand is valid only for MECHATROLINK-III 64-byte Mode.
10

10-11
 10.2 Setup Procedure
I/O Options

I/O Options

Output Data Options

The OW13 to OW19, and OW1B parameters contain the output data options.
The output data options are valid when the following conditions are met.
• The Output Data Option Selection (OW0C) is set to 1 (enabled) during Inverter drive control.
• The Auxiliary Output Data Option Selection (OW0E) is set to 1 (enabled) during Inverter I/O
control for a subcommand.

Input Data Options

The IW13 to IW21 parameters contain the input data options.
The input data options are valid when the following conditions are met.
• The Input Data Option Selection (OW0D) is set to 1 (enabled) during Inverter drive control.
• The Auxiliary Input Data Option Selection (OW0F) is set to 1 (enabled) during Inverter I/O con-
trol for a subcommand.
Data of selected input options can be monitored by using the Input Data Option Selection Monitor
(IW0D) and Auxiliary Input Data Option Selection Monitor (IW0F) of the monitoring
parameters.

Response Speed of Selected Output and Input Data Options

The response speed for the data selected from Output Data Option Selection, Auxiliary Output Data
Option Select, Input Data Option Selection, and auxiliary Input Data Option Selection depends on the
amount of selected data. Normally, it will be eight times slower than that for standard I/O data (always
available I/O data).
The response speed differs depending on the number of selected options, shown in the following tables.

• Number of Selected Output Data Options • Number of Selected Auxiliary Output Data
(OW0C) and Time Required for Options (OW0E) and Time Required for
Response Response

Number of Time Required for Number of

Time Required for
Selected Output Response Selected Auxiliary
Response
Data Options (Standard output data = 1) Output Data
(Standard output data = 1)
1 1 Options
2 1 1 1
3 2 2 1
4 2 3 1
5 3 4 1
6 3 5 2
7 4 6 2
8 4 7 2
8 2

10-12
 10.2 Setup Procedure
I/O Options

• Number of Selected Input Data Options • Number of Selected Auxiliary Input Data
(OW0D) and Time Required for Options (OW0F) and Time Required for
Response Response

Number of Time Required for Number of Time Required for

Selected Input Response Selected Auxiliary Response
Data Options (Standard input data = 1) Input Data Options (Standard input data = 1)
1 1 1 1
2 1 2 1
3 2 3 1
4 2 4 1
5 3 5 2
6 3 6 2
7 4 7 2
8 4 8 2
9 5 9 3
10 5 10 3
11 6 11 3
12 6 12 3
13 7 13 4
14 7 14 4
15 8 15 4

Inverter Operation

10

10-13
 10.3 Precautions for Inverter Operation

10.3 Precautions for Inverter Operation

This section provides precautions for Inverter operation.

Inverter operation in progress: Either of the following bits in the M-III Inverter Command Status
(IL2A) monitoring parameter is 1 (ON): Bit 0 (Forward Opera-
tion) or Bit 1 (Reverse Operation). Even if the motor is stopped,
Terms
Inverter operation is considered to be in progress if either of these bits
is ON.
Inverter operation stopped: Both of the following bits in the M-III Inverter Command Status
(IL2A) monitoring parameter are 0 (OFF): Bit 0 (Forward
Operation) and Bit 1 (Reverse Operation).

Operation When the CPU Stops

If CPU STOP is executed from the Machine Controller while Inverter operation is in progress, the SVC-01
Module will force the Inverter to stop operation.
Even if the Forward RUN or Reverse RUN bit was set to 1 (ON) by the application, the bit will be forced
to 0 (OFF).
Bit 0 (Operation Ready) in IW00 (Run Status) will also change to 0 (OFF). To start the CPU Mod-
ule when it has stopped, click the Setup Parameters Tab to change the tab page, set Command
(OW08) to No Command and then change bit D (Drive Permission) of Run Command Setting
(OW00) to 1 (ON).

Timing of Changes to MECHATROLINK Allocations

The MECHATROLINK transmission definitions in the SVC cannot be saved while Inverter operation is in
progress. Save the MECHATROLINK transmission definitions while the Inverter is stopped.

Timing of Changes to Fixed Parameters

The fixed parameters cannot be saved while Inverter operation is in progress. Save the fixed parameters
while the Inverter is stopped.

Switching between Motion Commands While the Command Control

Inverter Drive is Being Executed
If the Inverter Drive Control command in Command (OW08) is changed to another command while
Inverter operation is in progress, the Inverter will maintain the last command status of the Inverter Drive
Control command and motor operation will continue. Note that switching the command to NOP (No Com-
mand) also will not stop the motor.
Refer to the following section for the motor stopping methods.
Motor Stopping and Restarting Methods (page 10-15)
Also, if you change the command, I/O between the SVC and Inverter will stop. When that occurs, the
monitoring parameter data on the MPE720 will no longer be the most recent data. If you change to any
command other than the Transmission Reference command, the Run status monitor information will be
valid.

10-14
 10.3 Precautions for Inverter Operation

Motor Stopping and Restarting Methods

There are two ways to stop and restart the motor.

 Method 1
While the Inverter Drive Control command is being executed in Command (OW08), set bit 0 (For-
ward RUN) or bit 1 (Reserve RUN) of Input Command (OW10) to 0 (OFF).
To restart the motor, set bit 0 or bit 1 of OW10 to 1 (ON).

 Method 2
Set bit D (Drive Permission) of Run Command Setting (OW00) to 0 (OFF).
To restart the motor, execute the following commands:
Set Command (OW08) to NOP (No Command).
↓
Set bit D (Drive Permission) of Run Command Setting (OW00) to 1 (ON).
↓
Set Command (OW08) to the Inverter Drive Control command.

Inverter Modes
The Inverter has two modes.
Drive Mode: Drive Mode is used for normal operation and to monitor status. You can control operation
from the Machine Controller in this mode.
Program Mode: Program Mode is used to set and autotune parameters. In Program Mode, the Ready sta-
tus in the Inverter is OFF and commands from the Machine Controller are not acknowl-
edged.
To confirm that the Inverter is ready, make sure that bit 6 (Inverter Ready) in M-III Inverter Command
Status (IL2A) is 1 (ON) on the Monitor Tab Page.
Note: Bit 6 (Inverter Ready) in M-III Inverter Command Status (IL2A) can be monitored only during execution of
the Inverter Drive Control command.

Inverter Operation

10

10-15
 10.3 Precautions for Inverter Operation

Inverter Emergency Stopping and Restarting Methods

This section provides the procedures to perform an emergency stop (turning OFF the main circuit and con-
trol circuit power supplies and stopping operation commands) during Inverter operation and the proce-
dures for restarting the Inverter.

 Maintaining Drive Permission

1. Turn OFF the main circuit power supply.
2. To stop the operation command, turn OFF the Forward RUN and Reverse RUN commands.
The motor will perform an emergency stop.
Use the following steps to restart operation.
3. Execute an alarm clear operation to clear the device alarm.
4. Turn ON the main circuit power supply.
5. Start the operation command again.

Command
Inverter Drive Control (= 1)
(OW08)

Drive Permission
(OW00 bit D)

(3)
Alarm Clear
(OW00 bit F)

(2) (5)
Forward RUN or Reverse RUN
(OW10 bit 0 or 1)

(1)
Main circuit power supply (4)

Device Warning Occurrence

(IW2C bit 1)

Device Alarm Occurrence

(IW2C bit 0)

Inverter Ready
(IL2A bit 6)

Command Error Completed Status

(IW09 bit 3)

10-16
 10.3 Precautions for Inverter Operation

 Turning OFF Drive Permission

It is normally not necessary to turn OFF Drive Permission. However, if there is a reason to turn OFF Drive
Permission in the application, use the following procedure.
1. Turn OFF the main circuit power supply.
2. The operation command will stop, so the Forward RUN and Reverse RUN commands will turn OFF.
3. Change the command from Inverter Drive Control to NOP.
4. Turn OFF Drive Permission.
The motor will perform an emergency stop.
Use the following steps to restart operation.
5. Execute an alarm clear operation to clear the device alarm.
6. Turn ON Drive Permission.
7. Turn ON the main circuit power supply.
8. Change the command from NOP to Inverter Drive Control.
9. Start the operation command again.
(3) (8)
Command Inverter Drive Control (= 1)
Inverter Drive Control (= 1) NOP (=0)
(OW08)
Change to NOP and then
(4) turn OFF Drive Permission. (6)
Drive Permission
(OW00 bit D)
Turn ON Drive Permission
during the NOP command.
(5)
Alarm Clear
(OW00 bit F)

Forward RUN or (2) (9)

Reverse RUN
(OW10 bit 0 or 1)

Main circuit
(1) (7)
power supply

Device Warning Occurrence

(IW2C bit 1)

Device Alarm Occurrence

(IW2C bit 0)

Inverter Ready
(IL2A bit 6)
Inverter Operation

Operation Ready
(IW00 bit 0)

Command Error Completed Status

(IW09 bit 3)

10

10-17
 10.3 Precautions for Inverter Operation

 Command Error Completed Status

If Drive Permission is turned OFF during execution of the Inverter Drive Control command, Command
Error Completed Status (IW09 bit 3) turns ON. To clear the Command Error Completed Status,
change the command to NOP and perform the recovery operation.
The recovery procedure is the same as steps 5 to 9 of the procedure in  Turning OFF Drive Permission
(page 10-17), on the previous page.
Note: You cannot use Alarm Clear in the Command Error Completed Status.

Command
(OW08) Inverter Drive Control (= 1)

Drive Permission
(OW00 bit D)

Alarm Clear
(OW00 bit F)

Forward RUN or
Reverse RUN
(OW10 bit 0 or 1)

Main circuit
power supply

You cannot use

Device Warning Occurrence Alarm Clear in the
(IW2C bit 1) Command Error
Completed Status.

Device Alarm Occurrence

(IW2C bit 0)

Inverter Ready
(IL2A bit 6)
The Inverter Drive Control command
is being maintained, so Drive
Operation Ready Permission cannot be turned ON.
(IW00 bit 0)

Command Error Completed Status

(IW09 bit 3)

10-18
 10.4 Main Commands and Subcommands
List of Main Commands and Subcommands

10.4 Main Commands and Subcommands

This section describes the main commands and subcommands that can be used when connecting Inverters.

List of Main Commands and Subcommands

The following table lists the main commands and subcommands that are available for each communica-
tion protocol.

MECHATROLINK-III MECHATROLINK-III
Name
(64-byte Mode) (32-byte Mode)
00: No Command √ √
01: Inverter Drive Control √ √
Main Commands

02: Read User Constant √ √

(OW08)

03: Write User Constant √ √

04: Alarm Monitor √ √
05: Alarm History Monitor √ √
06: User Constant RAM Writing √ √
07: User Constant EEPROM Writing √ √
08: Transmission Reference √ √
00: No Command √ √
01: Inverter I/O Control √ −
Subcommands
(OW0A)

02: Read User Constant √ −

03: Write User Constant √ −
04: Alarm Monitor √ −
05: Alarm History Monitor √ −
08: Transmission Reference √ −
*
09: Read Fixed Parameters √ √

√: Applicable, −: Not applicable

* This is the subcommand to read out a fixed parameter in the SVC or SVC32 Module. This subcommand is not sent
through the MECHATROLINK transmission line.

Inverter Operation

10

10-19
 10.4 Main Commands and Subcommands
Applicable Combinations of Main Commands and Subcommands

Applicable Combinations of Main Commands and

Subcommands
The following table shows applicable combinations of commands and subcommands.

Transmission Reference

Read Fixed Parameters

Alarm History Monitor
Subcommand

Read User Constant

Write User Constant

Inverter I/O Control

Alarm Monitor
No Command
Main Command

00: No Command √ √ √ √ √ √ √ √
01: Inverter Drive Control √ √ √ √ √ √ √ √
02: Read User Constant √ √ − − √ √ √ √
03: Write User Constant √ √ − − √ √ √ √
04: Alarm Monitor √ √ − − − − √ √
05: Alarm History Monitor √ √ − − − − √ √
06: User Constant RAM Writing √ √ − − − − √ √
07: User Constant EEPROM Writing √ √ − − − − √ √
08: Transmission Reference √ √ √ √ √ √ √ √

√: Applicable, −: Not applicable

Note: 1. There are no restrictions on the combination of commands and subcommands for the SVC or SVC32
Module.
2. If the received main command and subcommand are incompatible, the Inverter will process the main com-
mand first.
3. If a command that is incompatible with the command being processed is received, the command being pro-
cessed will have priority.
4. If the Inverter Drive Control main command is incompatible with the Inverter I/O Control subcommand,
the main command processing will be overwritten by the subcommand processing.

10-20
 10.4 Main Commands and Subcommands
Main Command Details

Main Command Details

Each command and its parameters are described below.

No Command

 Description
No command to be executed
Note: If you change the command to No Command during operation, the motor will stop for a SERVOPACK but it
will not stop for an Inverter.
Be aware that the operation for an Inverter is different from the operation for a SERVOPACK.

 Setting Parameters
Name Register No. Setting Range Remarks
Command OW08 0 to 8 00: No Command

 Monitoring Parameters
Setting
Name Register No. Remarks
Range
Command Response Code IW08 0 to 8 00: No Command
Always
Bit 0 (Command execution flag)
OFF
Bit 3 (Command error com- Always
Command Status IW09 Bit
pleted status) OFF
Bit 8 (Command execution Always
completed status) ON
M-III Inverter Command
IL2A Bit Inverter operating status
Status
M-III Command Status IW2C Bit Inverter command processing status
Inverter Alarm Code IW32 0 to FFFFH Inverter alarm code

Inverter Drive Control

 Description
Sends commands to the Inverter and monitors the Inverter.
Note: If the Inverter Drive Control command is switched to another command during its execution, the Inverter
Inverter Operation

retains the last data and continues operation. The MPE720 retains the last data for the monitoring parameters
because I/O between the SVC or SVC32 Module and Inverter are stopped. The Status monitoring parameter,
however, will be updated for any command being executed except Transmission Reference.

10

10-21
 10.4 Main Commands and Subcommands
Main Command Details

 Setting Parameters
Setting
Name Register No. Remarks
Range
Mode Settings 1 OW01 Bit −
Command OW08 0 to 8 01: Inverter Drive Control
Output Data Option Selec-
OW0C Bit −
tion
Input Data Option Selection OW0D Bit −
Input Command OW10 Bit −
Speed Reference OW11 − −
Torque Reference OW12 − −
Torque Compensation Enabled when the Output Data Option Selection
OW13 −
(Option) (OW0C), bit 0 is ON.
Analog Output Terminal 1 Enabled when the Output Data Option Selection
OW14 −
Output (OW0C), bit 1 is ON.
Analog Output Terminal 2 Enabled when the Output Data Option Selection
OW15 −
Output (OW0C), bit 2 is ON.
Enabled when the Output Data Option Selection
Terminal Output OW16 −
(OW0C), bit 3 is ON.
Enabled when the Output Data Option Selection
PID Target OW17 −
(OW0C), bit 4 is ON.
Enabled when the Output Data Option Selection
Pulse Train Output OW18 −
(OW0C), bit 5 is ON.
Enabled when the Output Data Option Selection
V/f Gain OW19 −
(OW0C), bit 6 is ON.
Enabled when the Output Data Option Selection
Command Selection OW1B −
(OW0C), bit 8 is ON.

 Monitoring Parameters
Setting
Name Register No. Remarks
Range
Warning IL02 Bit −
Alarm IL04 Bit −
Command Response Code IW08 0 to 8 01: Inverter Drive Control
ON while the com-
Bit 0 (Command execution
mand is being exe-
flag)
cuted
ON when an error
Bit 3 (Command error com-
occurs during com-
pleted status)
Command Status IW09 Bit mand processing
OFF during com-
mand execution,
Bit 8 (Command execution
and ON when com-
completed)
mand execution is
completed.
Input Data Option Selection
IW0D Bit −
Monitor
Output Frequency IW11 − −
Output Current IW12 − −
Enabled when Input Data Option Selection
Motor Speed (Option) IW13 −
(OW0D) bit 0 is ON.
Continued on next page.

10-22
 10.4 Main Commands and Subcommands
Main Command Details

Continued from previous page.

Setting
Name Register No. Remarks
Range
Enabled when Input Data Option Selection
Torque Reference (Option) IW14 −
(OW0D) bit 1 is ON.
Enabled when Input Data Option Selection
Encoder Count PG1 IW15 −
(OW0D) bit 2 is ON.
Frequency Reference Enabled when Input Data Option Selection
IW16 −
(Option) (OW0D) bit 3 is ON.
Enabled when Input Data Option Selection
Analog Input A2 IW17 −
(OW0D) bit 4 is ON.
Enabled when Input Data Option Selection
Main Bus Voltage (Option) IW18 −
(OW0D) bit 5 is ON.
Enabled when Input Data Option Selection
Alarm Code IW19 −
(OW0D) bit 6 is ON.
Enabled when Input Data Option Selection
Warning Code IW1A −
(OW0D) bit 7 is ON.
Multi-Function Output Termi- Enabled when Input Data Option Selection
IW1B −
nal (OW0D) bit 8 is ON.
Enabled when Input Data Option Selection
Analog Input A3 IW1C −
(OW0D) bit 9 is ON.
Multi-Function Input Termi- Enabled when Input Data Option Selection
IW1D −
nal (OW0D) bit A is ON.
Enabled when Input Data Option Selection
Analog Input A1 IW1E −
(OW0D) bit B is ON.
Enabled when Input Data Option Selection
Encoder Count PG2 IW1F −
(OW0D) bit C is ON.
Enabled when Input Data Option Selection
Monitor data set in F6-23 IW20 −
(OW0D) bit D is ON.
Enabled when Input Data Option Selection
Monitor data set in F6-24 IW21 −
(OW0D) bit E is ON.
M-III Inverter Command Sta-
IL2A Bit Inverter operating status
tus
M-III Command Status IW2C Bit Inverter command processing status
0 to
Inverter Alarm Code IW32 Inverter alarm code
FFFFH

Inverter Operation

10

10-23
 10.4 Main Commands and Subcommands
Main Command Details

Read User Constant

 Description
Reads the specified user constant from the Inverter.

 Setting Parameters
Name Register No. Setting Range Remarks
Command OW08 0 to 8 02: Read User Constant
Inverter User Constant Number OW3C 0 to FFFFH −
Inverter User Constant Number
OW3D 1 to 4 −
Size

 Monitoring Parameters
Setting
Name Register No. Remarks
Range
Warning IL02 Bit −
Alarm IL04 Bit −
Command Response Code IW08 0 to 8 02: Read User Constant
Bit 0 (Command execution ON during execu-
flag) tion
ON when an error
Bit 3 (Command error com-
occurs during com-
pleted status)
Command Status IW09 Bit mand processing
OFF during execu-
Bit 8 (Command execution tion, and ON when
completed) execution is com-
pleted.
M-III Inverter Command Sta-
IL2A Bit Inverter operating status
tus
M-III Command Status IW2C Bit Inverter command processing status
Inverter Alarm Code IW32 0 to FFFFH Inverter alarm code
Inverter User Constant Num-
IW3C 0 to FFFFH −
ber
User Constant
IW3E 0 to 65535 −
Reading Data 1
User Constant
IW3F 0 to 65535 −
Reading Data 2
User Constant
IW40 0 to 65535 −
Reading Data 3
User Constant
IW41 0 to 65535 −
Reading Data 4

10-24
 10.4 Main Commands and Subcommands
Main Command Details

Write User Constant

 Description
Writes the specified inverter user constant to a constant in the Inverter.
Note: You must execute the User Constant RAM Writing command to enable the data written by executing the
Write User Constant command. Refer to the following section for details.
User Constant RAM Writing (page 10-27)

 Setting Parameters
Name Register No. Setting Range Remarks
Command OW08 0 to 8 03: Write User Constant
Inverter User Constant Number OW3C 0 to FFFFH −
Inverter User Constant Number
OW3D 1 to 4 −
Size
Inverter User Constant Set Point 1 OW3E 0 to 65535 −
Inverter User Constant Set Point 2 OW3F 0 to 65535 −
Inverter User Constant Set Point 3 OW40 0 to 65535 −
Inverter User Constant Set Point 4 OW41 0 to 65535 −

 Monitoring Parameters
Setting
Name Register No. Remarks
Range
Warning IL02 Bit −
Alarm IL04 Bit −
Command Response Code IW08 0 to 8 03: Write User Constant
Bit 0 (Command execution ON during execu-
flag) tion
ON when an error
Bit 3 (Command error
occurs during com-
completed status)
Command Status IW09 Bit mand processing
OFF during execu-
Bit 8 (Command execution tion, and ON when
completed) execution is com-
pleted.
M-III Inverter Command Status IL2A Bit Inverter operating status
M-III Command Status IW2C Bit Inverter command processing status
Inverter Alarm Code IW32 0 to FFFFH Inverter alarm code
Inverter User Constant Number IW3C 0 to FFFFH −
Inverter Operation

Alarm Monitor

 Description
Reads the alarm that is occurring in the Inverter.
10
 Setting Parameters
Name Register No. Setting Range Remarks
Command OW08 0 to 8 04: Alarm Monitor

10-25
 10.4 Main Commands and Subcommands
Main Command Details

 Monitoring Parameters
Setting
Name Register No. Remarks
Range
Warning IL02 Bit −
Alarm IL04 Bit −
Command Response Code IW08 0 to 8 04: Alarm Monitor
Bit 0 (Command execution ON during execu-
flag) tion
ON when an error
Bit 3 (Command error com-
occurs during com-
pleted status)
Command Status IW09 Bit mand processing
OFF during execu-
Bit 8 (Command execution tion, and ON when
completed status) execution is com-
pleted.
M-III Inverter Command
IL2A Bit Inverter operating status
Status
M-III Command Status IW2C Bit Inverter command processing status
Inverter Alarm Code IW32 0 to FFFFH The currently occurring alarm is read out.

Alarm History Monitor

 Description
Reads the Inverter alarm history.

 Setting Parameters
Name Register No. Setting Range Remarks
Command OW08 0 to 8 05: Alarm History Monitor
Inverter Alarm Monitor
OW32 0 to 3 Alarm monitor number
Number

 Monitoring Parameters
Register Setting
Name Remarks
No. Range
Warning IL02 Bit −
Alarm IL04 Bit −
Command Response Code IW08 0 to 8 05: Alarm History Monitor
Bit 0 (Command execution ON during execu-
flag) tion
ON when an error
Bit 3 (Command error com-
occurs during com-
pleted status)
Command Status IW09 Bit mand processing
OFF during execu-
Bit 8 (Command execution tion, and ON when
completed) execution is com-
pleted.
M-III Inverter Command
IL2A Bit Inverter operating status
Status
M-III Command Status IW2C Bit Inverter command processing status
Inverter Alarm Code IW32 0 to FFFFH The alarm history that is read out.

10-26
 10.4 Main Commands and Subcommands
Main Command Details

User Constant RAM Writing

 Description
Saves the parameter data written by executing Write User Constant in the Inverter volatile memory to
enable the data.

 Setting Parameters
Name Register No. Setting Range Remarks
Command OW08 0 to 8 06: User Constant RAM Writing

 Monitoring Parameters
Setting
Name Register No. Remarks
Range
Warning IL02 Bit −
Alarm IL04 Bit −
Command Response Code IW08 0 to 8 06: User Constant RAM Writing
Bit 0 (Command execution ON during execu-
flag) tion
ON when an error
Bit 3 (Command error com-
occurs during com-
pleted status)
Command Status IW09 Bit mand processing
OFF during execu-
Bit 8 (Command execution tion, and ON when
completed) execution is com-
pleted.
M-III Inverter Command
IL2A Bit Inverter operating status
Status
M-III Command Status IW2C Bit Inverter command processing status

Inverter Operation

10

10-27
 10.4 Main Commands and Subcommands
Main Command Details

User Constant EEPROM Writing

 Description
Saves the parameter data written by executing Write User Constant in the Inverter nonvolatile memory.

 Setting Parameters
Name Register No. Setting Range Remarks
Command OW08 0 to 8 07: User Constant EEPROM Writing

 Monitoring Parameters
Setting
Name Register No. Remarks
Range
Warning IL02 Bit −
Alarm IL04 Bit −
Command Response Code IW08 0 to 8 07: User Constant EEPROM Writing
Bit 0 (Command execution ON during execu-
flag) tion
ON when an error
Bit 3 (Command error com-
occurs during com-
pleted status)
Command Status IW09 Bit mand processing
OFF during execu-
Bit 8 (Command execution tion, and ON when
completed) execution is com-
pleted.
M-III Inverter Command
IL2A Bit Inverter operating status
Status
M-III Command Status IW2C Bit Inverter command processing status

10-28
 10.4 Main Commands and Subcommands
Main Command Details

Transmission Reference

 Description
You can use this command to freely set a MECHATROLINK-III command and send it through the trans-
mission line.

 Setting Parameters
Name Register No. Setting Range Remarks
Command OW08 0 to 8 08: Transmission Reference
Transmission Reference The lower bytes contain the M-III command
OW60 0 to FFFFH
Output Data 0 code.
. .
. . − −
. .
Transmission Reference
OW6F 0 to FFFFH −
Output Data 15

 Monitoring Parameters
Setting
Name Register No. Remarks
Range
Warning IL02 Bit −
Alarm IL04 Bit −
Command Response Code IW08 0 to 8 08: Transmission Reference
Bit 0 (Command execution ON during execu-
flag) tion
Bit 3 (Command error com-
Command Status IW09 Bit Always OFF
pleted status)
Bit 8 (Command execution
Always OFF
completed)
Transmission Reference
IW60 0 to FFFFH The lower bytes contain the M-III command code.
Input Data 0
. .
. . − −
. .
Transmission Reference
IW6F 0 to FFFFH −
Input Data 15
Inverter Operation

10

10-29
 10.4 Main Commands and Subcommands
Subcommand Details

Subcommand Details
Each subcommand and the related parameters are described below.

No Command

 Description
No command to be executed.

 Setting Parameters
Name Register No. Setting Range Remarks
Sub Command OW0A 0 to 65535 00: No Command

 Monitoring Parameters
Setting
Name Register No. Remarks
Range
Subcommand Response Code IW0A 0 to 65535 00: No Command
Always
Bit 0 (Command execution flag)
OFF
Bit 3 (Command error completed Always
Subcommand Status IW0B Bit
status) OFF
Bit 8 (Command execution com- Always
pleted) OFF
M-III Sub Command Status IW31 Bit Inverter subcommand processing status
Auxiliary Inverter Alarm Code IW33 0 to FFFFH Inverter alarm code

Inverter I/O Control

 Description
Sends a command to the Inverter and monitors the Inverter. This subcommand has an auxiliary function
for the main command (OW08). Only the data selected in Auxiliary Output Data Option Selection
(OW0E) can be output. Furthermore, only the data selected in the Auxiliary Input Data Option
Selection (OW0F) can be monitored.
Note: This command is enabled only when the number of transmission bytes is set to 64 bytes.

10-30
 10.4 Main Commands and Subcommands
Subcommand Details

 Setting Parameters
Setting
Name Register No. Remarks
Range
Sub Command OW0A 0 to 65535 01: Inverter I/O Control
Auxiliary Output Data
OW0E Bit −
Option Selection
Auxiliary Input Data Option
OW0F Bit −
Selection
Torque Compensation Enabled when bit 0 of Auxiliary Output Data Option
OW13 −
(Option) Selection (OW0E) is ON.
Analog Output Terminal 1 Enabled when bit 1 of Auxiliary Output Data Option
OW14 −
Output Selection (OW0E) is ON.
Analog Output Terminal 2 Enabled when bit 2 of Auxiliary Output Data Option
OW15 −
Output Selection (OW0E) is ON.
Enabled when bit 3 of Auxiliary Output Data Option
Terminal Output OW16 −
Selection (OW0E) is ON.
Enabled when bit 4 of Auxiliary Output Data Option
PID Target OW17 −
Selection (OW0E) is ON.
Enabled when bit 5 of Auxiliary Output Data Option
Pulse Train Output OW18 −
Selection (OW0E) is ON.
Enabled when bit 6 of Auxiliary Output Data Option
V/f Gain OW19 −
Selection (OW0E) is ON.
Enabled when bit 8 of Auxiliary Output Data Option
Command Selection OW1B −
Selection (OW0E) is ON.

 Monitoring Parameters
Register
Setting
Name Remarks
No. Range
0 to
Subcommand Response Code IW0A 01: Inverter I/O Control
65535
Bit 0 (Command execution ON during execu-
flag) tion.
ON when an error
Bit 3 (Command error com- occurs during the
pleted status) command pro-
Subcommand Status IW0B Bit
cessing
OFF during exe-
Bit 8 (Command execution cution, and always
completed) ON after execu-
tion is completed.
Auxiliary Input Data Option
IW0F Bit −
Selection Monitor
Inverter Operation

Enabled when bit 0 of Auxiliary Input Data Option

Motor Speed (Option) IW13 −
Selection (OW0F) is ON.
Enabled when bit 1 of Auxiliary Input Data Option
Torque Reference (Option) IW14 −
Selection (OW0F) is ON.
Enabled when bit 2 of Auxiliary Input Data Option
Encoder Count PG1 IW15 −
Selection (OW0F) is ON.
Enabled when bit 3 of Auxiliary Input Data Option
Frequency Reference (Option) IW16 − 10
Selection (OW0F) is ON.
Enabled when bit 4 of Auxiliary Input Data Option
Analog Input A2 IW17 −
Selection (OW0F) is ON.
Continued on next page.

10-31
 10.4 Main Commands and Subcommands
Subcommand Details

Continued from previous page.

Register Setting
Name Remarks
No. Range
Enabled when bit 5 of Auxiliary Input Data Option
Main Bus Voltage (Option) IW18 −
Selection (OW0F) is ON.
Enabled when bit 6 of Auxiliary Input Data Option
Alarm Code IW19 −
Selection (OW0F) is ON.
Enabled when bit 7 of Auxiliary Input Data Option
Warning Code IW1A −
Selection (OW0F) is ON.
Enabled when bit 8 of Auxiliary Input Data Option
Multi-Function Output Terminal IW1B −
Selection (OW0F) is ON.
Enabled when bit 9 of Auxiliary Input Data Option
Analog Input A3 IW1C −
Selection (OW0F) is ON.
Enabled when bit A of Auxiliary Input Data Option
Multi-Function Input Terminal IW1D −
Selection (OW0F) is ON.
Enabled when bit B of Auxiliary Input Data Option
Analog Input A1 IW1E −
Selection (OW0F) is ON.
Enabled when bit C of Auxiliary Input Data Option
Encoder Count PG2 IW1F −
Selection (OW0F) is ON.
Enabled when bit D of Auxiliary Input Data Option
Monitor data set in F6-23 IW20 −
Selection (OW0F) is ON.
Enabled when bit E of Auxiliary Input Data Option
Monitor data set in F6-24 IW21 −
Selection (OW0F) is ON.
M-III Sub Command Status IW31 Bit Inverter subcommand processing status
0 to
Auxiliary Inverter Alarm Code IW33 Inverter alarm code
FFFFH

Read User Constant

 Description
Reads the specified inverter user constant from the Inverter.
Note: This command is enabled only when the number of transmission bytes is set to 64 bytes.

 Setting Parameters
Name Register No. Setting Range Remarks
Sub Command OW0A 0 to 65535 02: Read User Constant
Inverter User Constant Number OW3C 0 to FFFFH −
Inverter User Constant Number Size OW3D 1 to 4 −

10-32
 10.4 Main Commands and Subcommands
Subcommand Details

 Monitoring Parameters
Register Setting
Name Remarks
No. Range
Subcommand Response Code IW0A 0 to 65535 02: Read User Constant
Bit 0 (Command execution ON during execu-
flag) tion
ON when an error
Bit 3 (Command error com- occurs during
pleted status) command pro-
Subcommand Status IW0B Bit
cessing.
OFF during exe-
Bit 8 (Command execution cution, and ON
completed) when execution is
completed.
M-III Sub Command Status IW31 Bit Inverter subcommand processing status
Auxiliary Inverter Alarm Code IW33 0 to FFFFH Inverter alarm code
Auxiliary Inverter User Con-
IW42 0 to FFFFH −
stant Number
Auxiliary User Constant
IW44 0 to 65535 −
Reading Data 1
Auxiliary User Constant
IW45 0 to 65535 −
Reading Data 2
Auxiliary User Constant
IW46 0 to 65535 −
Reading Data 3
Auxiliary User Constant
IW47 0 to 65535 −
Reading Data 4

Write User Constant

 Description
Writes the specified inverter user constant in the Inverter internal constant.
Note: 1. This command is enabled only when the number of transmission bytes is set to 64 bytes.
2. You must execute the User Constant RAM Writing command to enable the data written by executing the
Write User Constant command. Refer to the following section for details.
User Constant RAM Writing (page 10-27)

 Setting Parameters
Name Register No. Setting Range Remarks
Sub Command OW0A 0 to 65535 03: Write User Constant
Auxiliary Inverter User Constant
Inverter Operation

OW42 0 to FFFFH −
Number
Auxiliary Inverter User Constant
OW43 1 to 4 −
Number Size
Auxiliary Inverter User Constant
OW44 0 to 65535 −
Set Point 1
Auxiliary Inverter User Constant
OW45 0 to 65535 −
Set Point 2 10
Auxiliary Inverter User Constant
OW46 0 to 65535 −
Set Point 3
Auxiliary Inverter User Constant
OW47 0 to 65535 −
Set Point 4

10-33
 10.4 Main Commands and Subcommands
Subcommand Details

 Monitoring Parameters
Register Setting
Name Remarks
No. Range
Subcommand Response Code IW0A 0 to 65535 03: Write User Constant
Bit 0 (Command execution ON during execu-
flag) tion
ON when an error
Bit 3 (Command error com- occurs during
pleted status) command pro-
Subcommand Status IW0B Bit
cessing.
OFF during exe-
Bit 8 (Command execution cution, and ON
completed) when execution is
completed.
M-III Sub Command Status IW31 Bit Inverter subcommand processing status
Auxiliary Inverter Alarm Code IW33 0 to FFFFH Inverter alarm code
Auxiliary Inverter User Con-
IW42 0 to FFFFH −
stant Number

Alarm Monitor

 Description
Reads out the alarm that is occurring in the Inverter.
Note: This command is enabled only when the number of transmission bytes is set to 64 bytes.

 Setting Parameters
Name Register No. Setting Range Remarks
Sub Command OW0A 0 to 65535 04: Alarm Monitor

 Monitoring Parameters
Register Setting
Name Remarks
No. Range
Subcommand Response Code IW0A 0 to 65535 04: Alarm Monitor
Bit 0 (Command execution ON during execu-
flag) tion
ON when an error
Bit 3 (Command error com- occurs during
pleted status) command pro-
Subcommand Status IW0B Bit
cessing.
OFF during exe-
Bit 8 (Command execution cution, and ON
completed) when execution is
completed.
M-III Sub Command Status IW31 Bit Inverter subcommand processing status
Auxiliary Inverter Alarm Code IW33 0 to FFFFH The currently occurring alarm that is read out.

10-34
 10.4 Main Commands and Subcommands
Subcommand Details

Alarm History Monitor

 Description
Reads out the Inverter alarm history.
Note: This command is enabled only when the number of transmission bytes is set to 64 bytes.

 Setting Parameters
Name Register No. Setting Range Remarks
Sub Command OW0A 0 to 65535 05: Alarm History Monitor
Auxiliary Inverter Alarm Monitor
OW33 0 to 3 Record number specification
Number

 Monitoring Parameters
Register Setting
Name Remarks
No. Range
Subcommand Response Code IW0A 0 to 65535 05: Alarm History Monitor
Bit 0 (Command execution ON during execu-
flag) tion
ON when an error
Bit 3 (Command error com- occurs during
pleted status command pro-
Subcommand Status IW0B Bit
cessing.
OFF during exe-
Bit 8 (Command execution cution, and ON
completed) when execution is
completed.
M-III Sub Command Status IW31 Bit Inverter subcommand processing status
Auxiliary Inverter Alarm Code IW33 0 to FFFFH The alarm history that is read out.

Transmission Reference

 Description
You can use this subcommand to freely set a MECHATROLINK-III command and send it through the
transmission line.
Note: This command is enabled only when the number of transmission bytes is set to 64 bytes.

 Setting Parameters
Inverter Operation

Name Register No. Setting Range Remarks

Sub Command OW0A 0 to 65535 08: Transmission Reference
Transmission Reference Output
OW70 0 to FFFFH Subcommand output data bytes 0 and 1
Data 16
. .
. . − −
. . 10
Transmission Reference Output
OW7F 0 to FFFFH −
Data 31

10-35
 10.4 Main Commands and Subcommands
Subcommand Details

 Monitoring Parameters
Register Setting
Name Remarks
No. Range
Subcommand Response Code IW0A 0 to 65535 08: Transmission Reference
Bit 0 (Command execution ON during exe-
flag) cution
Bit 3 (Command error com-
Subcommand Status IW0B Bit Always OFF
pleted status)
Bit 8 (Command execution
Always OFF
completed)
Transmission Reference Input
IW70 0 to FFFFH Subcommand input data bytes 0 and 1
Data 16
. .
. . 0 to FFFFH −
. .
Transmission Reference Input
IW7F 0 to FFFFH −
Data 31

Read Fixed Parameters

 Description
Reads out the set data of the specified fixed parameter.

 Setting Parameters
Name Register No. Setting Range Remarks
Sub Command OW0A 0 to 65535 09: Read Fixed Parameters
Fixed Parameter Number OW48 0 to 63 Set the fixed parameter number.

 Monitoring Parameters
Setting
Name Register No. Remarks
Range
Subcommand Response Code IW0A 0 to 65535 09: Read Fixed Parameters
Bit 0 (Command execution ON during execu-
flag) tion
ON when an error
Bit 3 (Command error com- occurs during
pleted status) command pro-
Subcommand Status IW0B Bit
cessing.
OFF during exe-
Bit 8 (Command execution cution, and ON
completed) when execution is
completed.
Fixed Parameter Monitor IL48 -231 to 231-1 −

10-36
 10.5 Motion Parameter Details
Fixed Parameter List

10.5 Motion Parameter Details

This section describes the fixed parameters, setting parameters, and monitoring parameters that can be set
in the SVC or SVC32 Definition Tab Page for the connected inverters.

Fixed Parameter List

No. Name and Contents Setting Range Default Setting
Selection of Operation Mode 0 or 1 0
Sets the run mode to send/receive commands to/from the Inverter through MECHATROLINK.
0: Normal Operation Mode (default)
0
Inverter operation is performed.
1: Axis Unused
Impossible to send/receive commands.
1 Reserved by the system − −
Function Selection Flag 2 − 0
Specifies whether to mask an error to be reported to the monitoring parameter when an
error is detected in MECHATROLINK communications.
Bit 0: 0: Disabled (default)
Communication When a communication error occurs, the error will be reported in the Alarm or Warn-
Abnormality Detec- ing monitoring parameter.
tion Mask 1: Enabled
When a communication error occurs, the error will not be reported in the Alarm or
Warning monitoring parameter.
2 Specifies whether to mask an error to be reported to the monitoring parameter when a
Bit 1: synchronization management error is detected in MECHATROLINK communica-
WDT Abnormality tions.
Detection Mask 0: Disabled (default)
(Applicable only If a watchdog error occurs in communications with the Inverter, the error will be
for synchronous reported in the Alarm monitoring parameter.
communications 1: Enabled
supported inverters) If a watchdog error occurs in communications with the Inverter, the error will not be
reported in the Alarm monitoring parameter.
Bits 2 to F Reserved by the system
Function Selection Flag 3 − 8000H
Valid when Communication Abnormality Detection Mask bit (bit 0) of Communica-
tions Selection Flag 2 is set to 0 (Disabled).
Specifies whether an Alarm or Warning is to be output when a communication errors
Bit 0: occurs.
Communication 0: Alarm (default)
Selection Is Abnor- Outputs Alarm at occurrence of communication error.
3 mal The alarm must be reset to restart communications.
Inverter Operation

1: Warning
Outputs Warning at occurrence of communication error.
When communications is restored, the warning will be automatically cleared.
Bits 1 to E Reserved by the system
Bit F:
Reserved by the system
Parameter Discrim-
1: Inverter parameter (always ON)
ination Flag 10
4 to
Reserved by the system − −
63

10-37
 10.5 Motion Parameter Details
Setting Parameter List

Setting Parameter List

Register No. Name Description
Bits 0 to B Reserved by the system
0: OFF, 1: ON
Bit C: Reset Network Turn ON this bit to reset the entire
MECHATROLINK network.
0: OFF, 1: ON
Enables (ON) or disables (OFF) the Inverter drive con-
trol.
• This bit is captured at both rising and falling edges.
• When set to 0 (OFF), the command Inverter Drive
Control cannot be used.
• When this bit turns ON from OFF, the request to pre-
pare for inverter control operation is sent. However,
this request will not be accepted while the command
Bit D: Drive Permission Inverter Drive Control is being executed. To allow
the Inverter to get ready to run, turn OFF this bit and
then turn it ON again after setting a command other
than Inverter Drive Control.
• When this bit turns OFF from ON while the com-
mand Inverter Drive Control is being executed, bit 3
(Command Error Completed Status) of the monitor-
ing parameter Command Status will turn ON. Also,
when this bit turns OFF from ON while the Inverter
is operating, the system will execute Forced OFF
(OFF both for forward RUN and reverse RUN).
RUN 0: OFF, 1: ON
OW00 Command Re-establishes the connection for MECHATROLINK
Setting communications with the Inverter, whether communi-
cations are stopped or in process. Also clears the
Alarm monitoring parameter.
• This bit is captured at the rising edge.
<Application Example>
Bit E: Communication
With the setting to continue communications after a
Reset
communications error occurrence,* the SVC or SVC32
Module will continue communications whether or not
the Inverter stops communications because of the error.
In this case, the connection for communications can be
re-established by executing the Communications Reset
command. By resetting communications, you can re-
establish communications with the Inverter.
0: OFF, 1: ON
Clears the Alarm monitoring parameter.
• This bit is captured at the rising edge.
• If communications are stopped after the MECHA-
TROLINK communication errors, clear the alarm bit
Bit F: Alarm Clear and re-establish communications by setting this bit to
1 (ON).
Note: Alarm Clear is used to clear alarms in the SVC or
SVC32 Module, but will not clear alarms and warnings
in the Inverter. To clear alarms in the Inverter, use the
Inverter Drive Control command and set the bit 9 (Fault
Reset) of Input Command (OW10) to 1 (ON).
Continued on next page.
* Communications are continued when the fixed parameters in the SVC or SVC32 are set as follows:
• When Communication Abnormality Detection Mask is enabled in Function Selection Flag 2
• When Communication Abnormality Detection Mask is disabled in Function Selection Flag 2 and Warning is
selected for Communication Selection Is Abnormal in Function Selection Flag 3

10-38
 10.5 Motion Parameter Details
Setting Parameter List

Continued from previous page.

Register No. Name Description
Bit 0: Multi-function
Input Terminal 3
Bit 1: Multi-function
Input Terminal 4
0: Function OFF, 1: Function ON
Bit 2: Multi-function
Input Terminal 5 Specifies whether to use the multi-function input ter-
Mode Set- minals. The status of the input terminals is reported in
OW01 Bit 3: Multi-function
tings 1 the Multi-Function Input Terminal monitoring parame-
Input Terminal 6
ter.
Bit 4: Multi-function
Input Terminal 7
Bit 5: Multi-function
Input Terminal 8
Bits 6 to F Reserved by the system
OW02
to – Reserved by the system
OW05
OL06 (Inverter command output) Reserved by the system
00: No Command
01: Inverter Drive Control
02: Read User Constant
03: Write User Constant
Command
OW08 04: Alarm Monitor
Main Command Details (page 10-21)
05: Alarm History Monitor
06: User Constant RAM Writing
07: User Constant EEPROM Writing
08: Transmission Reference
OW09 − Reserved by the system
00: No Command
01: Inverter I/O Control
02: Read User Constant
03: Write User Constant
Sub Command 04: Alarm Monitor
OW0A
Subcommand Details (page 10-30) 05: Alarm History Monitor
06: Reserved by the system
07: Reserved by the system
08: Transmission Reference
09: Read Fixed Parameters
OW0B − Reserved by the system
Continued on next page.
Inverter Operation

10

10-39
 10.5 Motion Parameter Details
Setting Parameter List

Continued from previous page.

Register No. Name Description
0: Disabled, 1: Enabled
When this bit is set to 1 (enabled), the output data
Bit 0: Torque Compensa-
option Torque Compensation (OW13) will be
tion (Option)
enabled when the Inverter Drive Control command is
executed.
0: Disabled, 1: Enabled
When this bit is set to 1 (enabled), the output data
Bit 1: Analog Output
option Analog Output Terminal 1 Output
Terminal 1 Output
(OW14) will be enabled when the Inverter
Drive Control command is executed.
0: Disabled, 1: Enabled
When this bit is set to 1 (enabled), the output data
Bit 2: Analog Output
option Analog Output Terminal 2 Output
Terminal 2 Output
(OW15) will be enabled when the Inverter
Drive Control command is executed.
0: Disabled, 1: Enabled
When this bit is set to 1 (enabled), the output data
Bit 3: Terminal Output
option Terminal Output (OW16) will be enabled
Output Data when the Inverter Drive Control command is executed.
OW0C Option Selec- 0: Disabled, 1: Enabled
tion When this bit is set to 1 (enabled), the output data
Bit 4: PID Target
option PID Target (OW17) will be enabled
when the Inverter Drive Control command is executed.
0: Disabled, 1: Enabled
When this bit is set to 1 (enabled), the output data
Bit 5: Pulse Train Output option Pulse Train Output (OW18) will be
enabled when the Inverter Drive Control command is
executed.
0: Disabled, 1: Enabled
When this bit is set to 1 (enabled), the output data
Bit 6: V/f Gain
option V/f Gain (OW19) will be enabled when
the Inverter Drive Control command is executed.
Bit 7 Reserved by the system
0: Disabled, 1: Enabled
When this bit is set to 1 (enabled), the output data
Bit 8: Command Selec-
option Command Selection (OW1B) will be
tion
enabled when the Inverter Drive Control command is
executed.
Bits 9 to F Reserved by the system
Continued on next page.

10-40
 10.5 Motion Parameter Details
Setting Parameter List

Continued from previous page.

Register No. Name Description
0: Disabled, 1: Enabled
Bit 0: Motor Speed When this bit is set to 1 (enabled), the input data option
(Option) Motor Speed (IW13) will be monitored when
the Inverter Drive Control command is executed.
0: Disabled, 1: Enabled
Bit 1: Torque Reference When this bit is set to 1 (enabled), the input data option
Setting Torque Reference (IW14) will be monitored
when the Inverter Drive Control command is executed.
0: Disabled, 1: Enabled
Bit 2: Encoder Count When this bit is set to 1 (enabled), the input data option
PG1 Encoder Count PG1 (IW15) will be monitored
when the Inverter Drive Control command is executed.
0: Disabled, 1: Enabled
Bit 3: Frequency When this bit is set to 1 (enabled), the input data option
Reference (Option) Frequency Reference (IW16) will be monitored
when the Inverter Drive Control command is executed.
0: Disabled, 1: Enabled
When this bit is set to 1 (enabled), the input data option
Bit 4: Analog Input A2
Analog Input A2 (IW17) will be monitored
when the Inverter Drive Control command is executed.
0: Disabled, 1: Enabled
Bit 5: Main Bus Voltage When this bit is set to 1 (enabled), the input data option
Input Data
(Option) Main Bus Voltage (IW18) will be monitored
OW0D Option Selec-
when the Inverter Drive Control command is executed.
tion
0: Disabled, 1: Enabled
When this bit is set to 1 (enabled), the input data option
Bit 6: Alarm Code
Alarm Code (IW19) will be monitored when the
Inverter Drive Control command is executed.
0: Disabled, 1: Enabled
When this bit is set to 1 (enabled), the input data option
Bit 7: Warning Code
Warning Code (IW1A) will be monitored when
the Inverter Drive Control command is executed.
0: Disabled, 1: Enabled
When this bit is set to 1 (enabled), the input data option
Bit 8: Multi-Function
Multi-Function Output Terminal (IW1B) will be
Output Terminal
monitored when the Inverter Drive Control command
is executed.
0: Disabled, 1: Enabled
When this bit is set to 1 (enabled), the input data option
Bit 9: Analog Input A3
Analog Input A3 (IW1C) will be monitored
when the Inverter Drive Control command is executed.
0: Disabled, 1: Enabled
When this bit is set to 1 (enabled), the input data option
Inverter Operation

Bit A: Multi-Function
Multi-Function Input Terminal (IW1D) will be
Input Terminal
monitored when the Inverter Drive Control command
is executed.
Continued on next page.

10

10-41
 10.5 Motion Parameter Details
Setting Parameter List

Continued from previous page.

Register No. Name Description
0: Disabled, 1: Enabled
When this bit is set to 1 (enabled), the input data option
Bit B: Analog Input A1
Analog Input A1 (IW1E) will be monitored
when the Inverter Drive Control command is executed.
0: Disabled, 1: Enabled
Bit C: Encoder Count When this bit is set to 1 (enabled), the input data option
PG2 Encoder Count PG2 (IW1F) will be monitored
when the Inverter Drive Control command is executed.
Input Data
0: Disabled, 1: Enabled
Option Selec-
OW0D When this bit is set to 1 (enabled), the input data option
tion Bit D: Monitor data set
Monitor Data Set in F6-23 (IW20) will be moni-
(continued) in F6-23
tored when the Inverter Drive Control command is
executed.
0: Disabled, 1: Enabled
When this bit is set to 1 (enabled), the input data option
Bit E: Monitor data set in
Monitor Data Set in F6-24 (IW21) will be moni-
F6-24
tored when the Inverter Drive Control command is
executed.
Bit F Reserved by the system
0: Disabled, 1: Enabled
When this bit is set to 1 (enabled), the output data
Bit 0: Torque Compensa-
option Torque Compensation (OW13) will be
tion (Option)
enabled when the Inverter I/O Control subcommand is
executed.
0: Disabled, 1: Enabled
When this bit is set to 1 (enabled), the output data
Bit 1: Analog Output
option Analog Output Terminal 1 Output
Terminal 1 Output
(OW14) will be enabled when the Inverter I/O
Control subcommand is executed.
0: Disabled, 1: Enabled
When this bit is set to 1 (enabled), the output data
Bit 2: Analog Output
option Analog Output Terminal 2 Output
Terminal 2 Output
(OW15) will be enabled when the Inverter I/O
Control subcommand is executed.
0: Disabled, 1: Enabled
Auxiliary
When this bit is set to 1 (enabled), the output data
Output Data Bit 3: Terminal Output
OW0E option Terminal Output (OW16) will be enabled
Option
when the Inverter I/O Control subcommand is exe-
Selection
cuted.
0: Disabled, 1: Enabled
When this bit is set to 1 (enabled), the output data
Bit 4: PID Target option PID Target (OW17) will be enabled
when the Inverter I/O Control subcommand is exe-
cuted.
0: Disabled, 1: Enabled
When this bit is set to 1 (enabled), the output data
Bit 5: Pulse Train Output option Pulse Train Output (OW18) will be
enabled when the Inverter I/O Control subcommand is
executed.
0: Disabled, 1: Enabled
When this bit is set to 1 (enabled), the output data
Bit 6: V/f Gain
option V/f Gain (OW19) will be enabled when
the Inverter I/O Control subcommand is executed.
Bit 7 Reserved by the system
Continued on next page.

10-42
 10.5 Motion Parameter Details
Setting Parameter List

Continued from previous page.

Register No. Name Description
0: Disabled, 1: Enabled
Auxiliary
When this bit is set to 1 (enabled), the output data
Output Data Bit 8: Command Selec-
option Command Selection (OW1B) will be
OW0E Option tion
enabled when the Inverter I/O Control subcommand is
Selection
executed.
(continued)
Bits 9 to F Reserved by the system
0: Disabled, 1: Enabled
Bit 0: Motor Speed When this bit is set to 1 (enabled), the input data option
(Option) Motor Speed (IW13) will be monitored when
the Inverter I/O Control subcommand is executed.
0: Disabled, 1: Enabled
When this bit is set to 1 (enabled), the input data option
Bit 1: Torque Reference
Torque Reference (IW14) will be monitored
Setting
when the Inverter I/O Control subcommand is exe-
cuted.
0: Disabled, 1: Enabled
When this bit is set to 1 (enabled), the input data option
Bit 2: Encoder Count
Encoder Count PG1 (IW15) will be monitored
PG1
when the Inverter I/O Control subcommand is exe-
cuted.
0: Disabled, 1: Enabled
When this bit is set to 1 (enabled), the input data option
Bit 3 Frequency Refer-
Frequency Reference (IW16) will be monitored
ence (Option)
when the Inverter I/O Control subcommand is exe-
cuted.
Auxiliary 0: Disabled, 1: Enabled
Input Data When this bit is set to 1 (enabled), the input data option
OW0F
Option Selec- Bit 4: Analog Input A2 Analog Input A2 (IW17) will be monitored
tion when the Inverter I/O Control subcommand is exe-
cuted.
0: Disabled, 1: Enabled
When this bit is set to 1 (enabled), the input data option
Bit 5: Main Bus Voltage
Main Bus Voltage (IW18) will be monitored
(Option)
when the Inverter I/O Control subcommand is exe-
cuted.
0: Disabled, 1: Enabled
When this bit is set to 1 (enabled), the input data option
Bit 6: Alarm Code
Alarm Code (IW19) will be monitored when the
Inverter I/O Control subcommand is executed.
0: Disabled, 1: Enabled
When this bit is set to 1 (enabled), the input data option
Bit 7: Warning Code
Warning Code (IW1A) will be monitored when
the Inverter I/O Control subcommand is executed.
Inverter Operation

0: Disabled, 1: Enabled
When this bit is set to 1 (enabled), the input data option
Bit 8: Multi-Function
Multi-Function Output Terminal (IW1B) will be
Output Terminal
monitored when the Inverter I/O Control subcommand
is executed.
Continued on next page.

10

10-43
 10.5 Motion Parameter Details
Setting Parameter List

Continued from previous page.

Register No. Name Description
0: Disabled, 1: Enabled
When this bit is set to 1 (enabled), the input data option
Bit 9: Analog Input A3 Analog Input A3 (IW1C) will be monitored
when the Inverter I/O Control subcommand is exe-
cuted.
0: Disabled, 1: Enabled
When this bit is set to 1 (enabled), the input data option
Bit A: Multi-Function
Multi-Function Input Terminal (IW1D) will be
Input Terminal
monitored when the Inverter I/O Control subcommand
is executed.
0: Disabled, 1: Enabled
When this bit is set to 1 (enabled), the input data option
Bit B: Analog Input A1 Analog Input A1 (IW1E) will be monitored
Auxiliary when the Inverter I/O Control subcommand is exe-
Input Data cuted.
OW0F Option Selec- 0: Disabled, 1: Enabled
tion When this bit is set to 1 (enabled), the input data option
Bit C: Encoder Count
(continued) Encoder Count PG2 (IW1F) will be monitored
PG2
when the Inverter I/O Control subcommand is exe-
cuted.
0: Disabled, 1: Enabled
When this bit is set to 1 (enabled), the input data option
Bit D: Monitor data set
Monitor Data Set in F6-23 (IW20) will be moni-
in F6-23
tored when the Inverter I/O Control subcommand is
executed.
0: Disabled, 1: Enabled
When this bit is set to 1 (enabled), the input data option
Bit E: Monitor data set in
Monitor Data Set in F6-24 (IW21) will be moni-
F6-24
tored when the Inverter I/O Control subcommand is
executed.
Bit F Reserved by the system
0: Stop, 1: Forward RUN
Bit 0: Forward RUN This data is enabled when the Inverter Drive Control
command is executed. A forward command is applied.
0: Stop, 1: Reverse RUN
Bit 1: Reverse RUN This data is enabled when the Inverter Drive Control
command is executed. A reverse command is applied.
Bit 2 to 8 Reserved by the system
0: Disabled, 1: Fault reset
This data is enabled when the Inverter Drive Control
Bit 9: Fault Reset
command is executed. Clears an alarm or warning in
the Inverter.
Input Com-
OW10 0: Disabled, 1: External error input (EF0)
mand
This data is enabled when the Inverter Drive Control
Bit A: External Fault
command is executed. An error is reported to the
Input EF0
Inverter. The operation of the Inverter after receiving
the report is selected in an Inverter parameter.
0: Disabled, 1: Error history cleared
Bit B: Fault Trace Clear This data is enabled when the Inverter Drive Control
command is executed. Clears the error history trace.
0: Disabled, 1: External base block command ON
Bit C: External Base This data is enabled when the Inverter Drive Control
Block Command command is executed. A base block command is sent
to the Inverter.
Continued on next page.

10-44
 10.5 Motion Parameter Details
Setting Parameter List

Continued from previous page.

Register No. Name Description
Input Com-
OW10 mand Bits D to F Reserved by the system
(continued)
This data is enabled when the Inverter Drive Control
command is executed.
Unit: According to the O1-03 Inverter parameter. (0.01
OW11 Speed Reference
Hz, 0.01%, min-1, or user-specified unit)
You can check the current unit setting in the Unit mon-
itoring parameter (IW06).
This data is enabled when the Inverter Drive Control
command is executed.
OW12 Torque Reference
Unit: 0.1%
Setting range: -3,000 to 3,000
This data is enabled when the Inverter Drive Control
command is executed.
OW13 Torque Compensation (Option)
Unit: 0.1%
Setting range: -3,000 to 3,000
This data is enabled when the Inverter Drive Control
command is executed.
OW14 Analog Output Terminal 1 Output Unit: 10 V/4000 hex
Setting range: -16,384 (C000 hex) to 16,384 (4000
hex)
This data is enabled when the Inverter Drive Control
command is executed.
OW15 Analog Output Terminal 2 Output Unit: 10 V/4000 hex
Setting range: -16,384 (C000 hex) to 16,384 (4000
hex)
0: OFF, 1: ON
Outputs to terminals M1-M2.
Bit 0: Contact M1-M2
This data is enabled when the Inverter Drive Control
command is executed.
0: OFF, 1: ON
Outputs to terminals P1-PC.
Terminal Bit 1: Contact P1-PC
OW16 This data is enabled when the Inverter Drive Control
Output
command is executed.
0: OFF, 1: ON
Outputs to terminals P2-PC.
Bit 2: Contact P2-PC
This data is enabled when the Inverter Drive Control
command is executed.
Bits 3 to F Reserved by the system
Unit: 0.01%
OW17 PID Target
Setting range: -10,000 to 10,000
Inverter Operation

Unit: 1 Hz
OW18 Pulse Train Output
Setting range: 0 to 32,000
Unit: 0.1%
OW19 V/f Gain
Setting range: 20 to 2,000
OW1A – Reserved by the system
Bit 0 Reserved by the system
0: OFF, 1: ON 10
Command
OW1B Bit 1: PID Target Enable Turn ON this bit to enable the PID target set in
Selection
OW17.
Bit 2 Reserved by the system
Continued on next page.

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 10.5 Motion Parameter Details
Setting Parameter List

Continued from previous page.

Register No. Name Description
OW1C
to – Reserved by the system
OW31
Setting range: 0 to 3
OW32 Inverter Alarm Monitor Number Set the alarm history number for the Alarm History
Monitor command.
Setting range: 0 to 3
Auxiliary Inverter Alarm Monitor Num-
OW33 Set the alarm history number for the Alarm History
ber
Monitor subcommand.
OW34
to – Reserved by the system
OW3B
Setting range: 0 to FFFFH
Set the leading number of the user constants to read by
executing the Read User Constant command, or set the
OW3C Inverter User Constant Number leading number of the user constants to write by exe-
cuting the Write User Constant command.
Note: Set the register number used for MEMOBUS commu-
nications.
Setting range: 1 to 4 (words)
Set the size of the user constant to read by executing
the Read User Constant command, or set the size of the
user constant to write by executing the Write User
OW3D Inverter User Constant Number Size Constant command, in words.
Each inverter user constant is composed of one word.
Therefore, setting the Inverter User Constant Number
Size enables the reading or writing of data of 1 to 4
consecutive words at once.
Setting range: 0 to 65,535 (FFFFH)
Set the data to write for the Write User Constant com-
Inverter User Constant
OW3E mand.
Set Point 1
Enabled when Inverter User Constant Number Size = 1
to 4
Setting range: 0 to 65,535 (FFFFH)
Set the data to write for the Write User Constant com-
Inverter User Constant
OW3F mand.
Set Point 2
Enabled when Inverter User Constant Number Size = 2
to 4.
Setting range: 0 to 65,535 (FFFFH)
Set the data to write for the Write User Constant com-
Inverter User Constant
OW40 mand.
Set Point 3
Enabled when Inverter User Constant Number Size = 3
or 4.
Setting range: 0 to 65,535 (FFFFH)
Set the data to write for the Write User Constant com-
Inverter User Constant
OW41 mand.
Set Point 4
Enabled when Inverter User Constant Number Size
= 4.
Continued on next page.

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 10.5 Motion Parameter Details
Setting Parameter List

Continued from previous page.

Register No. Name Description
Setting range: 0 to FFFFH
Set the leading number of user constants to read by
executing the Read User Constant subcommand, or the
Auxiliary Inverter User Constant Num-
OW42 leading number of user constants to write by executing
ber
the Write User Constant subcommand.
Note: Set the register number used for MEMOBUS commu-
nications.
Setting range: 1 to 4 (words)
Set the size of the user constant to read by executing
the Read User Constant subcommand, or set the size of
the user constant to write by executing the Write User
OW43 Auxiliary Inverter User Constant Size Constant subcommand, in words.
Each inverter constant is composed of one word.
Therefore, setting the Inverter User Constant Number
Size enables the reading or writing of data of 1 to 4
consecutive words at once.
Setting range: 0 to 65,535 (FFFFH)
Set the data to write for the Write User Constant sub-
Auxiliary Inverter User Constant
OW44 command.
Set Point 1
Enabled when Auxiliary Inverter User Constant Num-
ber Size = 1 to 4.
Setting range: 0 to 65,535 (FFFFH)
Set the data to write for the Write User Constant sub-
Auxiliary Inverter User Constant
OW45 command.
Set Point 2
Enabled when Auxiliary Inverter User Constant Num-
ber Size = 2 to 4.
Setting range: 0 to 65,535 (FFFFH)
Set the data to write for the Write User Constant sub-
Auxiliary Inverter User Constant
OW46 command.
Set Point 3
Enabled when Auxiliary Inverter User Constant Num-
ber Size = 3 or 4.
Setting range: 0 to 65,535 (FFFFH)
Set the data to write for the Write User Constant sub-
Auxiliary Inverter User Constant
OW47 command.
Set Point 4
Enabled when Auxiliary Inverter User Constant Num-
ber Size = 4.
Setting range: 0 to 65,535
OW48 Fixed Parameter Number Set the fixed parameter number to read for the Read
Fixed Parameters subcommand.
OW49
to – Reserved by the system
OW5F
Setting range: 0 to FFFFH
Inverter Operation

This data is sent as the 1st word in the command (main

OW60 Transmission Reference Output Data 0
command bytes 0 and 1) when the Transmission Refer-
ence command is executed.
Setting range: 0 to FFFFH
This data is sent as the 2nd word in the command
OW61 Transmission Reference Output Data 1
(main command bytes 2 and 3) when the Transmission
Reference command is executed.
Setting range: 0 to FFFFH 10
This data is sent as the 3rd word in the command (main
OW62 Transmission Reference Output Data 2
command bytes 4 and 5) when the Transmission Refer-
ence command is executed.
Continued on next page.

10-47
 10.5 Motion Parameter Details
Setting Parameter List

Continued from previous page.

Register No. Name Description
Setting range: 0 to FFFFH
This data is sent as the 4th word in the command (main
OW63 Transmission Reference Output Data 3
command bytes 6 and 7) when the Transmission Refer-
ence command is executed.
Setting range: 0 to FFFFH
This data is sent as the 5th word in the command (main
OW64 Transmission Reference Output Data 4
command bytes 8 and 9) when the Transmission Refer-
ence command is executed.
Setting range: 0 to FFFFH
This data is sent as the 6th word in the command (main
OW65 Transmission Reference Output Data 5
command bytes 10 and 11) when the Transmission
Reference command is executed.
Setting range: 0 to FFFFH
This data is sent as the 7th word in the command (main
OW66 Transmission Reference Output Data 6
command bytes 12 and 13) when the Transmission
Reference command is executed.
Setting range: 0 to FFFFH
This data is sent as the 8th word in the command (main
OW67 Transmission Reference Output Data 7
command bytes 14 and 15) when the Transmission
Reference command is executed.
Setting range: 0 to FFFFH
This data is sent as the 9th word in the command (main
OW68 Transmission Reference Output Data 8
command bytes 16 and 17) when the Transmission
Reference command is executed.
Setting range: 0 to FFFFH
This data is sent as the 10th word in the command
OW69 Transmission Reference Output Data 9
(main command bytes 18 and 19) when the Transmis-
sion Reference command is executed.
Setting range: 0 to FFFFH
This data is sent as the 11th word in the command
OW6A Transmission Reference Output Data 10
(main command bytes 20 and 21) when the Transmis-
sion Reference command is executed.
Setting range: 0 to FFFFH
This data is sent as the 12th word in the command
OW6B Transmission Reference Output Data 11
(main command bytes 22 and 23) when the Transmis-
sion Reference command is executed.
Setting range: 0 to FFFFH
This data is sent as the 13th word in the command
OW6C Transmission Reference Output Data 12
(main command bytes 24 and 25) when the Transmis-
sion Reference command is executed.
Setting range: 0 to FFFFH
This data is sent as the 14th word in the command
OW6D Transmission Reference Output Data 13
(main command bytes 26 and 27) when the Transmis-
sion Reference command is executed.
Setting range: 0 to FFFFH
This data is sent as the 15th word in the command
OW6E Transmission Reference Output Data 14
(main command bytes 28 and 29) when the Transmis-
sion Reference command is executed.
Setting range: 0 to FFFFH
This data is sent as the 16th word in the command
OW6F Transmission Reference Output Data 15
(main command bytes 30 and 31) when the Transmis-
sion Reference command is executed.
Continued on next page.

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 10.5 Motion Parameter Details
Setting Parameter List

Continued from previous page.

Register No. Name Description
Setting range: 0 to FFFFH
This data is sent as the 1st word in the subcommand
OW70 Transmission Reference Output Data 16 (subcommand bytes 0 and 1) when the Transmission
Reference subcommand is executed.
Note: Enabled only in 64-byte Mode.
Setting range: 0 to FFFFH
This data is sent as the 2nd word in the subcommand
OW71 Transmission Reference Output Data 17 (subcommand bytes 2 and 3) when the Transmission
Reference subcommand is executed.
Note: Enabled only in 64-byte Mode.
Setting range: 0 to FFFFH
This data is sent as the 3rd word in the subcommand
OW72 Transmission Reference Output Data 18 (subcommand bytes 4 and 5) when the Transmission
Reference subcommand is executed.
Note: Enabled only in 64-byte Mode.
Setting range: 0 to FFFFH
This data is sent as the 4th word in the subcommand
OW73 Transmission Reference Output Data 19 (subcommand bytes 6 and 7) when the Transmission
Reference subcommand is executed.
Note: Enabled only in 64-byte Mode.
Setting range: 0 to FFFFH
This data is sent as the 5th word in the subcommand
OW74 Transmission Reference Output Data 20 (subcommand bytes 8 and 9) when the Transmission
Reference subcommand is executed.
Note: Enabled only in 64-byte Mode.
Setting range: 0 to FFFFH
This data is sent as the 6th word in the subcommand
OW75 Transmission Reference Output Data 21 (subcommand bytes 10 and 11) when the Transmission
Reference subcommand is executed.
Note: Enabled only in 64-byte Mode.
Setting range: 0 to FFFFH
This data is sent as the 7th word in the subcommand
OW76 Transmission Reference Output Data 22 (subcommand bytes 12 and 13) when the Transmission
Reference subcommand is executed.
Note: Enabled only in 64-byte Mode.
Setting range: 0 to FFFFH
This data is sent as the 8th word in the subcommand
OW77 Transmission Reference Output Data 23 (subcommand bytes 14 and 15) when the Transmission
Reference subcommand is executed.
Note: Enabled only in 64-byte Mode.
Setting range: 0 to FFFFH
This data is sent as the 9th word in the subcommand
Inverter Operation

OW78 Transmission Reference Output Data 24 (subcommand bytes 16 and 17) when the Transmission
Reference subcommand is executed.
Note: Enabled only in 64-byte Mode.
Setting range: 0 to FFFFH
This data is sent as the 10th word in the subcommand
OW79 Transmission Reference Output Data 25 (subcommand bytes 18 and 19) when the Transmission
Reference subcommand is executed.
Note: Enabled only in 64-byte Mode.
10
Continued on next page.

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 10.5 Motion Parameter Details
Setting Parameter List

Continued from previous page.

Register No. Name Description
Setting range: 0 to FFFFH
This data is sent as the 11th word in the subcommand
OW7A Transmission Reference Output Data 26 (subcommand bytes 20 and 21) when the Transmission
Reference subcommand is executed.
Note: Enabled only in 64-byte Mode.
Setting range: 0 to FFFFH
This data is sent as the 12th word in the subcommand
OW7B Transmission Reference Output Data 27 (subcommand bytes 22 and 23) when the Transmission
Reference subcommand is executed.
Note: Enabled only in 64-byte Mode.
Setting range: 0 to FFFFH
This data is sent as the 13th word in the subcommand
OW7C Transmission Reference Output Data 28 (subcommand bytes 24 and 25) when the Transmission
Reference subcommand is executed.
Note: Enabled only in 64-byte Mode.
Setting range: 0 to FFFFH
This data is sent as the 14th word in the subcommand
OW7D Transmission Reference Output Data 29 (subcommand bytes 26 and 27) when the Transmission
Reference subcommand is executed.
Note: Enabled only in 64-byte Mode.
Setting range: 0 to FFFFH
This data is sent as the 15th word in the subcommand
OW7E Transmission Reference Output Data 30 (subcommand bytes 28 and 29) when the Transmission
Reference subcommand is executed.
Note: Valid only in 64-byte Mode.
Setting range: 0 to FFFFH
This data is sent as the 16th word in the subcommand
OW7F Transmission Reference Output Data 31 (subcommand bytes 30 and 31) when the Transmission
Reference subcommand is executed.
Note: Valid only in 64-byte Mode.

10-50
 10.5 Motion Parameter Details
Monitoring Parameter List

Monitoring Parameter List

Register
Name Description
No.
0: Inverter drive control disabled
1: Inverter drive control enabled
Turns ON when communications (synchronous
communication) with the Inverter are established,
the Drive Permission bit of Run Command Setting
Bit 0: Operation Ready (OW00) is set to ON, and Inverter drive con-
trol is enabled. Turns OFF when a MECHA-
TROLINK communications error occurs.
Note: This bit provides different information
from Inverter Operation Ready (READY)
in the Inverter.
IW00 Run Status Bit 1 Reserved by the system
Bit 2: System BUSY Not used
0: Inverter not ready
1: Inverter ready
Turns ON when communications (synchronous
communications) with the Inverter are established.
Bit 3: Inverter Ready Turns OFF when a MECHATROLINK communi-
cations error occurs.
Note: This bit provides different information
from Inverter Operation Ready (READY)
in the Inverter.
Bits 4 to F Reserved by the system
Setting parameters: 0 or more
Fixed parameters: 1000 or more
Parameter Number when Range Over is
IW01 Displays the parameter number whose setting is
Generated
incorrect (out of the setting range). The parameter
number offset by 1000 is displayed.
Continued on next page.

Inverter Operation

10

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 10.5 Motion Parameter Details
Monitoring Parameter List

Continued from previous page.

Register
Name Description
No.
Bit 0 Reserved by the system
Turns ON when setting parameter error occurs.
Bit 1: Setting Parameter Correct the setting parameter to clear the warning.
Error This warning can be cleared by executing Alarm
Clear.
Turns ON when fixed parameter error occurs.
Correct the fixed parameter to clear the warning.
Bit 2: Fixed Parameter Error
This warning cannot be cleared by executing Alarm
Clear.
Bit 3 Reserved by the system
Turns ON when a command outside the allowable
Bit 4: Command Set Warn-
setting range is set.
ing
Correct the command to clear the warning.
Bits 5 to 8 Reserved by the system
IL02 Warning
Turns ON when MECHATROLINK communica-
tions errors are detected individually.
Enabled when:
Communication Abnormality Detection Mask bit of
the Function Selection Flag 2 fixed parameter is
Bit 9: Communication
disabled, and
Warning
Communication Selection is Abnormal bit of the
Function Selection Flag 3 fixed parameter is set to
Warning.
This warning will be cleared when communications
are restored.
Turns ON when a subcommand outside the allow-
Bit A: Sub Command Set
able setting range is set.
Warning
Correct the subcommand to clear the warning.
Bits B to 1F Reserved by the system
Continued on next page.

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 10.5 Motion Parameter Details
Monitoring Parameter List

Continued from previous page.

Register
Name Description
No.
Bits 0 to E Reserved by the system
Bit F: User Constant Error Not used
Turns ON when a MECHATROLINK communica-
tions watchdog timer timeout error is detected.
Enabled when the WDT Abnormality Detection
Bit 10: Synchronization
Mask bit of the Function Selection Flag 2 fixed
Communication Error
parameter is set to Disabled.
This alarm can be cleared by executing Alarm
Clear.
Turns ON when MECHATROLINK communica-
tions errors are detected continuously.
Communication Abnormality Detection Mask bit of
the Function Selection Flag 2 fixed parameter is set
Bit 11: Communication Error to Disabled, and Alarm is selected for Communica-
tion Selection Abnormal of the Function Selection
Flag 3 fixed parameter.
This alarm can be cleared by executing Alarm
Clear.
Turns ON when a response from the Inverter for a
command or subcommand is not detected within
IL04 Alarm Bit 12: Communication
five seconds.
Timeout Error
This alarm can be cleared by executing Alarm
Clear.
Bits 13 to 15 Reserved by the system
Turns ON while the high-speed scan cycle setting
Bit 16: Scan Setting Error and the MECHATROLINK communications cycle
setting are asynchronous.
Bits 17 to 1B Reserved by the system
With MECHATROLINK-III, a node can join the
network while communications are in progress.
However, conditions such as the communications
Bit 1C: Cyclic Communica- cycle and the number of slave stations may prevent
tion Initialize incomplete a node from joining the network. If that occurs, this
bit turns ON. If this alarm occurs, turn the power
supply to the Machine Controller OFF and ON
again or reset the network (OW00 bit C).
Turns ON when the Inverter model assigned in the
Bit 1D: Drive Type Error SVC or SVC32 definitions does not match the
actual Inverter model that is connected.
Bits 1E to 1F Reserved by the system
Continued on next page.
Inverter Operation

10

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 10.5 Motion Parameter Details
Monitoring Parameter List

Continued from previous page.

Register
Name Description
No.
0: 0.01 Hz
1: 0.01%
2: min-1
3: Unit in product specifications
The information that is set in the Inverter is read
and reported when communications are established.
Bits 0 to 3: Speed Reference Note: Do not change the setting unit in the
Inverter after communications have been
established. If you change the setting in
the Inverter after communications have
been established, the parameter values
IW06 Unit will not match between the Inverter and
monitors, and unexpected operation may
occur.
0: 0.1%
Bits 4 to 7: Torque Reference 1: Unit in product specifications
1000-series Inverter: 0.1% (fixed)
0: 0.1A
1: Unit in product specifications
Bits 8 to B: Output Current
1000-series Inverter: Unit in product specifications
(fixed)
Bits C to F Reserved by the system
IW07 – Reserved by the system
00: No Command No command is selected.
01: Inverter Drive Control Inverter Drive Control is executed.
02: Read User Constant Read User Constant is executed.
03: Write User Constant Write User Constant is executed.
Command 04: Alarm Monitor Alarm Monitor is executed.
IW08 Response 05: Alarm History Monitor Alarm History Monitor is executed.
Code
06: User Constant RAM
User Constant RAM Writing is executed.
Writing
07: User Constant
User Constant EEPROM Writing is executed.
EEPROM Writing
08: Transmission Reference Transmission Reference is executed.
ON during command execution
Bit 0: Command Execution
Always ON when Transmission Reference com-
Flag
mand is selected.
Bits 1and 2 Reserved by the system
Bit 3: Command Error Turns ON when command execution ends in an
Completed Status error.
Command
IW09 Bits 4 to 7 Reserved by the system
Status
Turns ON when command execution is completed.
With a Inverter Drive Control command, data input
Bit 8: Command Execution
and output will continue after command execution
Completed
is completed.
Always ON when No Command is selected.
Bits 9 to F Reserved by the system
Continued on next page.

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 10.5 Motion Parameter Details
Monitoring Parameter List

Continued from previous page.

Register
Name Description
No.
00: No Command No subcommand is selected.
01: Inverter I/O Control Inverter I/O Control is executed.
02: Read User Constant Read User Constant is executed.
Subcommand 03: Write User Constant Write User Constant is executed.
IW0A Response
Code 04: Alarm Monitor Alarm Monitor is executed.
05: Alarm History Monitor Alarm History Monitor is executed.
08: Transmission Reference Transmission Reference is executed.
09: Read Fixed Parameters Read Fixed Parameters is executed.
ON during command execution.
Bit 0: Command Execution
Always ON when Inverter I/O Control or Transmis-
Flag
sion Reference command is executed.
Bits 1 and 2 Reserved by the system
Subcommand Bit 3: Command Error Turns ON when command execution ends in an
IW0B Completed Status error.
Status
Bits 4 to 7 Reserved by the system
Bit 8: Command Execution Turns ON when command execution is completed.
Completed Always ON when No Command is selected.
Bits 9 to F Reserved by the system
IW0C − Reserved by the system
ON when Motor Speed is selected for Input Data
Bit 0: Motor Speed Option Selection (OW0D) and the data is
being normally reported.
ON when Torque Reference is selected for Input
Bit 1: Torque Reference Data Option Selection (OW0D) and the data
is being normally reported.
ON when Encoder Count PG1 is selected for Input
Bit 2: Encoder Count PG1 Data Option Selection (OW0D) and the data
is being normally reported.
ON when Frequency Reference is selected for Input
Bit 3: Frequency Reference Data Option Selection (OW0D) and the data
is being normally reported.
ON when Analog Input A2 is selected for Input
Bit 4: Analog Input A2 Data Option Selection (OW0D) and the data
Input Data is being normally reported.
IW0D Option Selec- ON when Main Bus Voltage is selected for Input
tion Monitor Bit 5: Main Bus Voltage Data Option Selection (OW0D) and the data
is being normally reported.
ON when Alarm Code is selected for Input Data
Bit 6: Alarm Code Option Selection (OW0D) and the data is
being normally reported.
Inverter Operation

ON when Warning Code is selected for Input Data

Bit 7: Warning Code Option Selection (OW0D) and the data is
being normally reported.
ON when Multi-Function Output Terminal is
Bit 8: Multi-Function Out- selected for Input Data Option Selection
put Terminal (OW0D) and the data is being normally
reported.
ON when Analog Input A3 is selected for Input 10
Bit 9: Analog Input A3 Data Option Selection (OW0D) and the data
is being normally reported.
Continued on next page.

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 10.5 Motion Parameter Details
Monitoring Parameter List

Continued from previous page.

Register
Name Description
No.
ON when Multi-Function Input Terminal is selected
Bit A: Multi-Function Input
for Input Data Option Selection (OW0D)
Terminal
and the data is being normally reported.
ON when Analog Input A1 is selected for Input
Bit B: Analog Input A1 Data Option Selection (OW0D) and the data
is being normally reported.
ON when Encoder Count PG2 is selected for Input
Input Data Bit C: Encoder Count PG2 Data Option Selection (OW0D) and the data
IW0D Option Selec- is being normally reported.
tion Monitor
ON when Monitor Data Set in F6-23 is selected for
Bit D: Monitor data set in
Input Data Option Selection (OW0D) and
F6-23
the data is being normally reported.
ON when Monitor Data Set in F6-24 is selected for
Bit E: Monitor data set in F6-
Input Data Option Selection (OW0D) and
24
the data is being normally reported.
Bit F Reserved by the system
IW0E – Reserved by the system
ON when Motor Speed is selected for Auxiliary
Bit 0: Motor Speed Input Data Option Selection (OW0F) and the
data is being normally reported.
ON when Torque Reference is selected for Auxil-
Bit 1: Torque Reference iary Input Data Option Selection (OW0F)
and the data is being normally reported.
ON when Encoder Count PG1 is selected for Auxil-
Bit 2: Encoder Count PG1 iary Input Data Option Selection (OW0F)
and the data is being normally reported.
ON when Frequency Reference is selected for Aux-
Bit 3: Frequency Reference iliary Input Data Option Selection (OW0F)
and the data is being normally reported.
ON when Analog Input A2 is selected for Auxiliary
Bit 4: Analog Input A2 Input Data Option Selection (OW0F) and the
data is being normally reported.
ON when Main Bus Voltage is selected for Auxil-
Auxiliary
Bit 5: Main Bus Voltage iary Input Data Option Selection (OW0F)
Input Data
IW0F and the data is being normally reported.
Option Selec-
tion Monitor ON when Alarm Code is selected for Auxiliary
Bit 6: Alarm Code Input Data Option Selection (OW0F) and the
data is being normally reported.
ON when Warning Code is selected for Auxiliary
Bit 7: Warning Code Input Data Option Selection (OW0F) and the
data is being normally reported.
ON when Multi-Function Output Terminal is
Bit 8: Multi-Function Out- selected for Auxiliary Input Data Option Selection
put Terminal (OW0F) and the data is being normally
reported.
ON when Analog Input A3 is selected for Auxiliary
Bit 9: Analog Input A3 Input Data Option Selection (OW0F) and the
data is being normally reported.
ON when Multi-Function Input Terminal is selected
Bit A: Multi-Function Input for Auxiliary Input Data Option Selection
Terminal (OW0F) and the data is being normally
reported.
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Monitoring Parameter List

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Register
Name Description
No.
ON when Analog Input A1 is selected for Auxiliary
Bit B: Analog Input A1 Input Data Option Selection (OW0F) and the
data is being normally reported.
ON when Encoder Count PG2 is selected for Auxil-
Bit C: Encoder Count PG2 iary Input Data Option Selection (OW0F)
and the data is being normally reported.
Auxiliary
ON when Monitor Data Set in F6-23 is selected for
Input Data
IW0F Bit D: Monitor data set in Auxiliary Input Data Option Selection
Option Selec-
F6-23 (OW0F) and the data is being normally
tion Monitor
reported.
ON when Monitor Data Set in F6-24 is selected for
Bit E: Monitor data set in F6- Auxiliary Input Data Option Selection
24 (OW0F) and the data is being normally
reported.
Bit F Reserved by the system
IW10 – Reserved by the system
Reports the output frequency from the Inverter.
Unit: According to the O1-03 Inverter parameter.
IW11 Output Frequency
You can check the current unit setting in the Unit
monitoring parameter (IW06).
Reports the output current from the Inverter.
Unit: Inverter rated current/8,192.
IW12 Output Current
You can check the current unit setting in the Unit
monitoring parameter (IW06).
Reports the motor speed during operation.
Unit: According to the O1-03 Inverter parameter.
IW13 Motor Speed (Option)
You can check the current unit setting in the Unit
monitoring parameter (IW06).
Reports the torque reference.
Unit: 0.1%
IW14 Torque Reference (Option)
You can check the current unit setting in the Unit
monitoring parameter (IW06).
IW15 Encoder Count PG1 Reports the counter value.
Reports the frequency reference from the Inverter.
Unit: According to the O1-03 Inverter parameter.
IW16 Frequency Reference (Option)
You can check the current unit setting in the Unit
monitoring parameter (IW06).
IW17 Analog Input A2 Unit: 0.1%
IW18 Main Bus Voltage (Option) Unit: 1 VDC
IW19 Alarm Code Reports the Inverter alarm code.
IW1A Warning Code Reports the Inverter warning code.
Inverter Operation

Continued on next page.

10

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 10.5 Motion Parameter Details
Monitoring Parameter List

Continued from previous page.

Register
Name Description
No.
Bit 0: Terminal 1 Status 0: OFF, 1: ON
Bit 1: Terminal 2 Status 0: OFF, 1: ON
Bit 2: Terminal 3 Status 0: OFF, 1: ON
Bit 3: Terminal 4 Status 0: OFF, 1: ON
Bit 4: Terminal 5 Status 0: OFF, 1: ON
Multi-Func- Bit 5: Terminal 6 Status 0: OFF, 1: ON
tion
IW1B Bit 6: Terminal 7 Status 0: OFF, 1: ON
Output Termi-
nal Bit 7: Terminal 8 Status 0: OFF, 1: ON
Bit 8: Terminal 9 Status 0: OFF, 1: ON
Bit 9: Terminal 10 Status 0: OFF, 1: ON
Bit A: Terminal 11 Status 0: OFF, 1: ON
Bit B: Terminal 12 Status 0: OFF, 1: ON
Bits C to F Reserved by the system
IW1C Analog Input A3 Unit: 0.1%
Bit 0: Terminal 1 Status 0: OFF, 1: ON
Bit 1: Terminal 2 Status 0: OFF, 1: ON
Bit 2: Terminal 3 Status 0: OFF, 1: ON
Multi-Func- Bit 3: Terminal 4 Status 0: OFF, 1: ON
IW1D tion Input Bit 4: Terminal 5 Status 0: OFF, 1: ON
Terminal Bit 5: Terminal 6 Status 0: OFF, 1: ON
Bit 6: Terminal 7 Status 0: OFF, 1: ON
Bit 7: Terminal 8 Status 0: OFF, 1: ON
Bits 8 to F Reserved by the system
IW1E Analog Input A1 Unit: 0.1%
IW1F Encoder Count PG2 Reports the count value.
Reports the result of the monitoring set in the F6-23
IW20 Monitor data set in F6-23
Inverter parameter.
Reports the result of the monitoring set in the F6-24
IW21 Monitor data set in F6-24
Inverter parameter.
IW22
to – Reserved by the system
IW27
IL28 M-III Inverter Command Input Status Not used.
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10-58
 10.5 Motion Parameter Details
Monitoring Parameter List

Continued from previous page.

Register
Name Description
No.
Bit 0: Forward Operation ON during forward operation.
Bit 1: Reverse Operation ON during reverse operation.
Bit 2: Base Block ON while base block is released.
Bit 3: Power ON ON while main power supply is ON.
Bit 4: Zero Speed ON during zero speed.
Bit 5: During Speed Coinci-
ON during speed coincidence.
dent
ON when Inverter is ready. This indicates that the
Bit 6: Inverter Ready Inverter can be monitored. OFF while the Inverter
is in Program Mode.
Bit 7: oPE Error ON when an oPE error has occurred.
Bit 8 Reserved by the system
M-III Inverter Bit 9: During Reset ON while the fault reset signal is being input.
IL2A Command
Bit A: Momentary/Power ON after recovering from momentary power inter-
Status
Cut ruption.
Bit B: Remote Operation ON during remote (transmission) commands.
Bit C: Motor Selection ON when motor 2 is selected.
Bit D: Set Zero Completed ON when Zero Servo is completed.
Bit E Reserved by the system
Bit F Reserved by the system
Bit 10 to Bit 17 Reserved by the system
0: SEL_MON1 disabled.
Bit 18: SEL_MON1 Status
1: Data specified with SEL_MON1 enabled
0: SEL_MON2 disabled.
Bit 19: SEL_MON2 Status
1: Data specified with SEL_MON2 enabled.
Bit 1A to Bit 1F Reserved by the system
Bit 0: Device Alarm Occur-
ON when a device alarm has occurred.
rence (D_ALM)
Bit 1: Device Warning
ON when a device warning has occurred.
Occurrence (D_WAR)
Bit 2: Command Ready
ON when a command can be received.
(CMDRDY)
Bit 3: Alarm Clear Execution
M-III Com- Completion (ALM_CL- ON when clearing the alarm is completed.
IW2C R_CMP)
mand Status
Bits 4 to 5 Reserved by the system
Bits 6 to 7: Echo-back of the Reports the echo-back value of the command ID of
command ID (RCMD_ID) a MECHATROLINK command.
Bits 8 to B: Command Error Reports the MECHATROLINK command error sta-
Inverter Operation

(CMD_ALM) tus.
Bits C to F: Communication Reports the MECHATROLINK communications
Error (COM_ALM) error status.
IW2D
to – Reserved by the system
IW30
Continued on next page.
10

10-59
 10.5 Motion Parameter Details
Monitoring Parameter List

Continued from previous page.

Register
Name Description
No.
Bit 0 Reserved by the system
Bit 1 Reserved by the system
Bit 2: Command Ready
ON when a subcommand can be received.
M-III Sub (CMDRDY)
IW31 Command Bit 3 Reserved by the system
Status Bits 4 to 7 Reserved by the system
Bits 8 to B: Command Error Reports the MECHATROLINK subcommand error
(CMD_ALM) status.
Bits C to F Reserved by the system
Range: 0 to FFFFH
Displays the alarm codes returned in the response
IW32 Inverter Alarm Code
to the Alarm Monitor or Alarm History Monitor
command.
Range: 0 to FFFFH
Displays the alarm codes returned in the response
IW33 Auxiliary Inverter Alarm Code
to the Alarm Monitor or Alarm History Monitor
subcommand.
IW34
to − Reserved by the system
IW3B
Range: 0 to FFFFH
Displays the inverter user constant number set for
IW3C Inverter User Constant Number
the Read User Constant or Write User Constant
command.
IW3D − Reserved by the system
Range: 0 to FFFFH
Displays the value read out by executing the Read
IW3E User Constant Reading Data 1 User Constant command. Enabled when Inverter
User Constant Number Size (OW3D) = 1 to
4.
Range: 0 to FFFFH
Displays the value read out by executing the Read
IW3F User Constant Reading Data 2 User Constant command. Enabled when Inverter
User Constant Number Size (OW3D) = 2 to
4.
Range: 0 to FFFFH
Displays the value read out by executing the Read
IW40 User Constant Reading Data 3 User Constant command. Enabled when Inverter
User Constant Number Size (OW3D) = 3 or
4.
Range: 0 to FFFFH
Displays the value read out by executing the Read
IW41 User Constant Reading Data 4
User Constant command. Enabled when Inverter
User Constant Number Size (OW3D) = 4.
Range: 0 to FFFFH
Displays the auxiliary inverter user constant num-
IW42 Auxiliary Inverter User Constant Number
ber set for the Read User Constant or Write User
Constant subcommand.
IW43 − Reserved by the system.
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10-60
 10.5 Motion Parameter Details
Monitoring Parameter List

Continued from previous page.

Register
Name Description
No.
Range: 0 to FFFFH
Displays the value read out by executing the Read
IW44 Auxiliary User Constant Reading Data 1 User Constant subcommand. Enabled when Auxil-
iary Inverter User Constant Number Size
(OW43) = 1 to 4.
Range: 0 to FFFFH
Displays the value read out by executing the Read
IW45 Auxiliary User Constant Reading Data 2 User Constant subcommand. Enabled when Auxil-
iary Inverter User Constant Number Size
(OW43) = 2 to 4.
Range: 0 to FFFFH
Displays the value read out by executing the Read
IW46 Auxiliary User Constant Reading Data 3 User Constant subcommand. Enabled when Auxil-
iary Inverter User Constant Number Size
(OW43) = 3 or 4.
Range: 0 to FFFFH
Displays the value read out by executing the Read
IW47 Auxiliary User Constant Reading Data 4 User Constant subcommand. Enabled when Auxiliary
Inverter User Constant Number Size (OW43)
= 4.
Displays the fixed parameter value read out by exe-
IL48 Fixed Parameter Monitor
cuting the Read Fixed Parameters subcommand.
IW4A
to – Reserved by the system
IW5F
Displays the 1st word in the response data (main
IW60 Transmission Reference Input Data 0 command bytes 0 and 1) when the Transmission
Reference command is executed.
Displays the 2nd word in the response data (main
IW61 Transmission Reference Input Data 1 command bytes 2 and 3) when the Transmission
Reference command is executed.
Displays the 3rd word in the response data (main
IW62 Transmission Reference Input Data 2 command bytes 4 and 5) when the Transmission
Reference command is executed.
Displays the 4th word in the response data (main
IW63 Transmission Reference Input Data 3 command bytes 6 and 7) when the Transmission
Reference command is executed.
Displays the 5th word in the response data (main
IW64 Transmission Reference Input Data 4 command bytes 8 and 9) when the Transmission
Reference command is executed.
Displays the 6th word in the response data (main
IW65 Transmission Reference Input Data 5 command bytes 10 and 11) when the Transmission
Inverter Operation

Reference command is executed.

Displays the 7th word in the response data (main
IW66 Transmission Reference Input Data 6 command bytes 12 and 13) when the Transmission
Reference command is executed.
Displays the 8th word in the response data (main
IW67 Transmission Reference Input Data 7 command bytes 14 and 15) when the Transmission
Reference command is executed.
Displays the 9th word in the response data (main 10
IW68 Transmission Reference Input Data 8 command bytes 16 and 17) when the Transmission
Reference command is executed.
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 10.5 Motion Parameter Details
Monitoring Parameter List

Continued from previous page.

Register
Name Description
No.
Displays the 10th word in the response data (main
IW69 Transmission Reference Input Data 9 command bytes 18 and 19) when the Transmission
Reference command is executed.
Displays the 11th word in the response data (main
IW6A Transmission Reference Input Data 10 command bytes 20 and 21) when the Transmission
Reference command is executed.
Displays the 12th word in the response data (main
IW6B Transmission Reference Input Data 11 command bytes 22 and 23) when the Transmission
Reference command is executed.
Displays the 13th word in the response data (main
IW6C Transmission Reference Input Data 12 command bytes 24 and 25) when the Transmission
Reference command is executed.
Displays the 14th word in the response data (main
IW6D Transmission Reference Input Data 13 command bytes 26 and 27) when the Transmission
Reference command is executed.
Displays the 15th word in the response data (main
IW6E Transmission Reference Input Data 14 command bytes 28 and 29) when the Transmission
Reference command is executed.
Displays the 16th word in the response data (main
IW6F Transmission Reference Input Data 15 command bytes 30 and 31) when the Transmission
Reference command is executed.
Displays the 1st word in the subresponse data (sub-
command bytes 0 and 1) when the Transmission
IW70 Transmission Reference Input Data 16
Reference subcommand is executed.
Note: Enabled only in 64-byte Mode.
Displays the 2nd word in the subresponse data
(subcommand bytes 2 and 3) when the Transmis-
IW71 Transmission Reference Input Data 17
sion Reference subcommand is executed.
Note: Enabled only in 64-byte Mode.
Displays the 3rd word in the subresponse data (sub-
command bytes 4 and 5) when the Transmission
IW72 Transmission Reference Input Data 18
Reference subcommand is executed.
Note: Enabled only in 64-byte Mode.
Displays the 4th word in the subresponse data (sub-
command bytes 6 and 7) when the Transmission
IW73 Transmission Reference Input Data 19
Reference subcommand is executed.
Note: Enabled only in 64-byte Mode.
Displays the 5th word in the subresponse data (sub-
command bytes 8 and 9) when the Transmission
IW74 Transmission Reference Input Data 20
Reference subcommand is executed.
Note: Enabled only in 64-byte Mode.
Displays the 6th word in the subresponse data (sub-
command bytes 10 and 11) when the Transmission
IW75 Transmission Reference Input Data 21
Reference subcommand is executed.
Note: Enabled only in 64-byte Mode.
Displays the 7th word in the subresponse data (sub-
command bytes 12 and 13) when the Transmission
IW76 Transmission Reference Input Data 22
Reference subcommand is executed.
Note: Enabled only in 64-byte Mode.
Displays the 8th word in the subresponse data (sub-
command bytes 14 and 15) when the Transmission
IW77 Transmission Reference Input Data 23
Reference subcommand is executed.
Note: Enabled only in 64-byte Mode.
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 10.5 Motion Parameter Details
Monitoring Parameter List

Continued from previous page.

Register
Name Description
No.
Displays the 9th word in the subresponse data (sub-
command bytes 16 and 17) when the Transmission
IW78 Transmission Reference Input Data 24
Reference subcommand is executed.
Note: Enabled only in 64-byte Mode.
Displays the 10th word in the subresponse data
(subcommand bytes 18 and 19) when the Transmis-
IW79 Transmission Reference Input Data 25
sion Reference subcommand is executed.
Note: Enabled only in 64-byte Mode.
Displays the 11th word in the subresponse data
(subcommand bytes 20 and 21) when the Transmis-
IW7A Transmission Reference Input Data 26
sion Reference subcommand is executed.
Note: Enabled only in 64-byte Mode.
Displays the 12th word in the subresponse data
(subcommand bytes 22 and 23) when the Transmis-
IW7B Transmission Reference Input Data 27
sion Reference subcommand is executed.
Note: Enabled only in 64-byte Mode.
Displays the 13th word in the subresponse data
(subcommand bytes 24 and 25) when the Transmis-
IW7C Transmission Reference Input Data 28
sion Reference subcommand is executed.
Note: Enabled only in 64-byte Mode.
Displays the 14th word in the subresponse data
(subcommand bytes 26 and 27) when the Transmis-
IW7D Transmission Reference Input Data 29
sion Reference subcommand is executed.
Note: Enabled only in 64-byte Mode.
Displays the 15th word in the subresponse data
(subcommand bytes 28 and 29) when the Transmis-
IW7E Transmission Reference Input Data 30
sion Reference subcommand is executed.
Note: Enabled only in 64-byte Mode.
Displays the 16th word in the subresponse data
(subcommand bytes 30 and 31) when the Transmis-
IW7F Transmission Reference Input Data 31
sion Reference subcommand is executed.
Note: Enabled only in 64-byte Mode.

Inverter Operation

10

10-63
 10.5 Motion Parameter Details
Inverter Output Data Details

Inverter Output Data Details

The following table provides details on the data output from the A1000 and V1000 Inverters that support
MECHATROLINK-III.
Register No. Name Description
Bit 0 Forward RUN
Bit 1 Reverse RUN
Bits 2 to 8 Reserved by the system.
Bit 9 Fault Reset
OW10 Input Command
Bit A External Fault Input EF0
Bit B Fault Trace Clear
Bit C External Base Block Command
Bits D to F Reserved by the system.
The unit is determined by the setting of the O1-03
OW11 Speed Reference
Inverter parameter.
OW12 Torque Reference Unit: 0.1%
OW13 Torque Compensation (Option) Unit: 0.1%
OW14 Analog Output Terminal 1 Output Unit: 10 V/4000 hex
OW15 Analog Output Terminal 2 Output Unit: 10 V/4000 hex
Bit 0 Contact M1-M2
Bit 1 Contact P1-PC
OW16 Terminal Output
Bit 2 Contact P2-PC
Bits 3 to F Reserved by the system.

Inverter Input Data Details

The following table provides details on the data input to the A1000 and V1000 Inverters that support
MECHATROLINK-III.
Register No. Name Description
The unit is determined by the setting of the O1-03
IW11 Output Frequency
Inverter parameter.
IW12 Output Current Unit: 0.1 A or 0.01 A
The unit is determined by the setting of the O1-03
IW13 Motor Speed (Option) Inverter parameter. (Invalid in V/f with PG control
mode)
Unit: 0.1%
IW14 Torque Reference (Option)
(Invalid in V/f with PG and V/f control mode)
Unit: pulse
IW15 Encoder Count PG1
(Invalid when an optional PG is not connected.)
The unit is determined by the setting of the O1-03
IW16 Frequency Reference (Option)
Inverter parameter.
IW17 Analog Input A2 Unit: 0.1%
IW18 Main Bus Voltage (Option) Unit: 1 V
IW19 Alarm Code Inverter alarm code
IW1A Warning Code Inverter warning code
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 10.5 Motion Parameter Details
Inverter Input Data Details

Continued from previous page.

Register No. Name Description
Bit 0: Terminal
0: OFF, 1: ON
1 Status
Bit 1: Terminal
0: OFF, 1: ON
2 Status
Bit 2: Terminal
0: OFF, 1: ON
3 Status
Bit 3: Terminal
0: OFF, 1: ON
4 Status
Bit 4: Terminal
0: OFF, 1: ON
5 Status
Bit 5: Terminal
0: OFF, 1: ON
6 Status
Multi-Function Out-
IW1B Bit 6: Terminal
put Terminal 0: OFF, 1: ON
7 Status
Bit 7: Terminal
0: OFF, 1: ON
8 Status
Bit 8: Terminal
0: OFF, 1: ON
9 Status
Bit 9: Terminal
0: OFF, 1: ON
10 Status
Bit A: Terminal
0: OFF, 1: ON
11 Status
Bit B: Termi-
0: OFF, 1: ON
nal 12 Status
Bits C to F Reserved by the system
IW1C Analog Input A3 Unit: 0.1%
Bit 0: Terminal
0: OFF, 1: ON
1 Status
Bit 1: Terminal
0: OFF, 1: ON
2 Status
Bit 2: Terminal
0: OFF, 1: ON
3 Status
Bit 3: Terminal
0: OFF, 1: ON
4 Status
Multi-Function Input
IW1D Bit 4: Terminal
Terminal 0: OFF, 1: ON
5 Status
Bit 5: Terminal
0: OFF, 1: ON
6 Status
Bit 6: Terminal
0: OFF, 1: ON
7 Status
Bit 7: Terminal
0: OFF, 1: ON
Inverter Operation

8 Status
Bits 8 to F Reserved by the system
IW1E Analog Input A1 Unit: 0.1%
Unit: pulse
IW1F Encoder Count PG2
(Valid when a PG-Y2 is connected.)
Reports the result of the monitoring set in the F6-23
IW20 Monitor data set in F6-23
Inverter parameter.
10
Reports the result of the monitoring set in the F6-24
IW21 Monitor data set in F6-24
Inverter parameter.
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 10.5 Motion Parameter Details
Inverter Input Data Details

Continued from previous page.

Register No. Name Description
Bit 0: Forward
ON during forward operation.
Operation
Bit 1: Reverse
ON during reverse operation.
Operation
Bit 2: Base
ON while base block is released.
Block
Bit 3: Power
ON while main power supply is ON.
ON
Bit 4: Zero
ON during zero speed.
Speed
Bit 5: During
Speed Coinci- ON during speed coincidence.
dent
Bit 6: Inverter
ON when Inverter is ready.
Ready
Bit 7: oPE
ON when an oPE error has occurred.
Error
Bit 8 Reserved by the system
M-III Inverter Bit 9: During
IL2A ON while the fault reset signal is being input.
Command Status Reset
Bit A: Momen- ON after recovering from momentary power interrup-
tary/Power Cut tion.
Bit B: Remote
ON during remote (transmission) commands.
Operation
Bit C: Motor
ON when motor 2 is selected.
Selection
Bit D: Set Zero
ON when Zero Servo is completed.
Completed
Bit E Reserved by the system
Bit F Reserved by the system
Bits 10 to 17 Reserved by the system
Bits 18:
0: SEL_MON1 disabled.
SEL_MON1
1: Data specified with SEL_MON1 enabled
Status
Bits 19:
0: SEL_MON2 disabled.
SEL_MON2
1: Data specified with SEL_MON2 enabled.
Status
Bits 1A to 1F Reserved by the system
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 10.5 Motion Parameter Details
Inverter Input Data Details

Continued from previous page.

Register No. Name Description
Bit 0: Device
Alarm Occur-
ON when a device alarm has occurred.
rence
(D_ALM)
Bit 1: Device
Warning
ON when a device warning has occurred.
Occurrence
(D_WAR)
Bit 2: Com-
mand Ready ON when a command can be received.
(CMDRDY)
Bit 3: Alarm
Clear Execu-
tion Comple-
ON when clearing the alarm is completed.
tion
M-III Command Sta- (ALM_CL-
IW2C
tus R_CMP)
Bits 4 to 5 Reserved by the system
Bits 6 to 7:
Echo-back of
Reports the echo-back value of the command ID of a
the command
MECHATROLINK command.
ID (RCM-
D_ID)
Bits 8 to B:
Command
Reports the MECHATROLINK command error status.
Error
(CMD_ALM)
Bits C to F:
Communica- Reports the MECHATROLINK communications error
tion Error status.
(COM_ALM)

Inverter Operation

10

10-67
 10.6 Inverter Alarm and Warning Codes
A1000

10.6 Inverter Alarm and Warning Codes

There are the following four types of Inverter alarms depending on where the alarm is detected and the
type of error.
Place the Error
Error Type Description
Occurred
Serious failure that can damage the inverter and
Inverter Alarm Inverter
machine
Alarm MECHATROLINK-III
Command Error and
MECHATROLINK-III
MECHATROLINK communications failure SI-ET3∗
Communications Error
Incorrect operation or minor failure that will not
Inverter Warning Inverter
likely result in a serious situation.
Warning MECHATROLINK-III
Command Error and
MECHATROLINK communications error warning SI-ET3∗
MECHATROLINK-III
Communications Error
* SI-ET3: MECHATROLINK Option Card for Inverter
Note: 1. If more than one error is detected at the same time, the SI-ET3 gives priority to the error with the lowest alarm
code.
2. When an error is detected while another is being detected, the alarm code will not be refreshed.
3. If more than one minor failure (warning) is detected at the same time, the SI-ET3 gives priority to the error with
the lowest warning code number.
Inverter alarms and warnings are described below.

A1000

Inverter Alarms
Alarm Code Digital Operator
Name
(IW19*1/IW32*2) Display
– CPF00 or CPF01 Control Circuit Error
– oFA03 Option Card Error Occurred at Option Port CN5-A
– oFA04 Option Card Error Occurred at Option Port CN5-A
– oFb03 Option Card Error Occurred at Option Port CN5-B
– oFb04 Option Card Error Occurred at Option Port CN5-B
– oFb07 to oFb09 Option Card Error Occurred at Option Port CN5-B
– oFC03 Option Card Error Occurred at Option Port CN5-C
– oFC04 Option Card Error Occurred at Option Port CN5-C
– oFC07 to oFC09 Option Card Error Occurred at Option Port CN5-C
0002H Uv1 DC Bus Undervoltage
0003H Uv2 Control Power Supply Voltage Fault
0004H Uv3 Undervoltage 3 (Soft-charge Bypass Circuit Fault)
0005H SC Output Short-Circuit or IGBT Fault
0006H GF Ground Fault
0007H oC Overcurrent
0008H ov Overvoltage
0009H oH Heatsink Overheat
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 10.6 Inverter Alarm and Warning Codes
A1000

Continued from previous page.

Alarm Code Digital Operator
Name
*1 *2
(IW19 /IW32 ) Display
000AH oH1 Overheat 1 (Heat sink Overheat)
000BH oL1 Motor Overload
000CH oL2 Drive Overload
000DH oL3 Overtorque Detection 1
000EH oL4 Overtorque Detection 2
000FH rr Dynamic Braking Transistor
0010H rH Braking Resistor Overheat
0011H to 0016H EF3 to EF8 External Fault (input terminal S3 to S8)
0017H FAn Internal Fan Fault
0018H oS Overspeed
Speed Deviation (for Control Mode with PG and PM
0019H dEv
Open Loop Vector Control Mode without PG)
001AH PGo PG Disconnect (for Control Mode with PG)
001BH PF Input Phase Loss
001CH LF Output Phase Loss
001DH oH3 Motor Overheat Alarm (PTC Input)
001EH oPr External Digital Operator Connection Fault
001FH Err EEPROM Write Error
0020H oH4 Motor Overheat Fault (PTC Input)
0021H CE MEMOBUS/Modbus Communication Error
0022H bUS Option Communication Error
0025H CF Control Fault
0026H SvE Zero Servo Fault
0027H EF0 Option Card External Fault
0028H FbL PID Feedback Loss
0029H UL3 Undertorque Detection 1
002BH oL7 High Slip Braking oL
0030H UL4 Undertorque Detection 2
0032H dv1 Z Pulse Fault
0033H dv2 Z Pulse Noise Fault Detection
0034H dv3 Inversion Detection
0035H dv4 Inversion Prevention Detection
0036H LF2 Output Current Imbalance
0037H STo Pull-Out Detection
0038H PGoH PG Hardware Fault (when using PG-X3)
0039H E5 MECHATROLINK Watchdog Timer Error
003BH SEr Too Many Speed Search Restarts
Inverter Operation

0041H FbH Excessive PID Feedback

0042H EF1 External Fault (input terminal S1)
0043H EF2 External Fault (input terminal S2)
0044H oL5 Mechanical Weakening Detection 1
0045H UL5 Mechanical Weakening Detection 2
0046H CoF Current Offset Fault
0049H dWFL DriveWorksEZ Fault 10
004AH dWF1 EEPROM Memory DriveWorksEZ Data Error
004DH voF Output Voltage Detection Fault
004EH rF Braking Resistor Fault
Continued on next page.

10-69
 10.6 Inverter Alarm and Warning Codes
A1000

Continued from previous page.

Alarm Code Digital Operator
Name
*1
(IW19 /IW32 ) *2 Display
004FH boL Braking Transistor Overload Fault
0050H oH5 Motor Overheat (NTC Input)
0051H LSo LSo Fault
0052H nSE Node Setup Fault
0053H THo Thermistor Disconnect
005BH dv7 Polarity Judge Timeout
005FH LF3 Power Unit Output Phase Loss 3
0060H UnbC Current Unbalance
0061H Uv4 Gate Drive Board Undervoltage
0083H CPF02 A/D Conversion Error
0084H CPF03 Control Board Connection Error
0087H CPF06 EEPROM Memory Data Error
0088H, 0089H CPF07 or CPF08 Terminal Board Connection Error
008CH CPF11 RAM Fault
008DH CPF12 FLASH Memory Fault
008EH CPF13 Watchdog Circuit Exception
008FH CPF14 Control Circuit Fault
0091H CPF16 Clock Fault
0092H CPF17 Timing Fault
0093H CPF18
Control Circuit Fault
0094H CPF19
0095H, 0096H CPF20 or CPF21 Control Circuit Error
0097H CPF22 Hybrid IC Error
0098H CPF23 Control Board Connection Error
0099H CPF24 Drive Unit Signal Fault
009AH CPF25 Terminal Board not Connected.
009BH to 00A4H CPF26 to CPF35
Control Circuit Error
00A9H to 00AEH CPF40 to CPF45
0101H oFA00 Option Card Connection Error at Option Port CN5-A
0102H oFA01 Option Card Fault at Option Port CN5-A
0103H oFA02 Same type of Option Card already connected
0106H oFA05
0107H oFA06 Option Card Error Occurred at Option Port CN5-A
0111H, 0112H oFA10 or oFA11
0113H to 0118H oFA12 to oFA17 Option Card Connection Error (CN5-A)
0131H to 013EH oFA30 to oFA43 Comm. Option Card Connection Error (CN5-A)
0201H oFb00 Option Card Fault at Option Port CN5-B
0202H oFb01 Option Card Fault at Option Port CN5-B
0203H oFb02 Same type of option card already connected
0206H oFb05
0207H oFb06
Option Card Error Occurred at Option Port CN5-B
0211H oFb10
0212H oFb11
0213H to 0218H oFb12 to oFb17 Option Card Error Occurred at Option Port CN5-B
0301H oFC00 Option Card Connection Error at Option Port CN5-C
0302H oFC01 Option Card Fault at Option Port CN5-C
0303H oFC02 Option Card Fault at Option Port CN5-C
Continued on next page.

10-70
 10.6 Inverter Alarm and Warning Codes
A1000

Continued from previous page.

Alarm Code Digital Operator
Name
*1
(IW19 /IW32 ) *2 Display
0306H oFC05
0307H oFC06
Option Card Error Occurred at Option Port CN5-C
0311H oFC10
0312H oFC11
0313H to 0318H oFC12 to oFC17 Option Card Error Occurred at Option Port CN5-C
0351H to 0356H oFC50 to oFC55 Option Card Error Occurred at Option Port CN5-C
*1. You can monitor in the following cases.
• When the Inverter Drive Control command is executed when bit 6 (Alarm code) of Input Data Option Selection
(OW0D) is ON.
• When the Inverter I/O Control subcommand is executed when bit 6 (Alarm code) of Auxiliary Input Data Option
Selection (OW0F) is ON.
*2. You can monitor the current alarm codes when the Alarm Monitor or Alarm History Monitor command is executed.

Inverter Operation

10

10-71
 10.6 Inverter Alarm and Warning Codes
A1000

Inverter Warnings
Warning Code Digital Operator
Name
*1
(IW1A /IW32 ) *2 Display
– PASS MEMOBUS/Modbus Comm. Test Mode Complete
– CrST Cannot Reset
0001H Uv Undervoltage
0002H ov DC Bus Overvoltage
0003H oH Heatsink Overheat
0004H oH2 Drive Overheat Warning
0005H oL3 Overtorque 1
0006H oL4 Overtorque 2
0007H EF Forward/Reverse Run Command Input Error
0008H bb Baseblock
0009H to 000EH EF3 to EF8 External Fault (input terminal S3 to S8)
000FH FAn Internal Fan Fault
0010H oS Overspeed
Speed Deviation (when using a PG option card and PM
0011H dEv
Open Loop Vector Control Mode without PG)
0012H PGo PG Disconnect (for Control Mode with PG)
0014H CE MEMOBUS/Modbus Communication Error
0015H bUS Option Communication Error
001AH EF0 Option Card External Fault
001BH rUn Motor Switch during Run
001DH CALL Serial Communication Transmission Error
001EH UL3 Undertorque Detection 1
001FH UL4 Undertorque Detection 2
0020H SE MEMOBUS/Modbus Communication Test Mode Error
0022H oH3 Motor Overheat
0027H FbL PID Feedback Loss
0028H FbH Excessive PID Feedback
002AH dnE Drive Disabled
002BH PGoH PG Hardware Fault (when using PG-X3)
0031H E5 MECHATROLINK Watchdog Timer Error
0032H AEr Station Address Setting Error (MECHATROLINK)
0033H CyC MECHATROLINK Comm. Cycle Setting Error
0034H HCA Current Alarm
0035H LT-1 Cooling Fan Maintenance Time
0036H LT-2 Capacitor Maintenance Time
0039H EF1 External Fault (input terminal S1)
003AH EF2 External Fault (input terminal S2)
003BH HbbF
Safe Disable Signal Input
003CH Hbb
003DH oL5 Mechanical Weakening Detection 1
003EH UL5 Mechanical Weakening Detection 2
0041H voF Output Voltage Detection Fault
0042H TrPC IGBT Maintenance Time (90%)
0043H LT-3 Soft Charge Bypass Relay Maintenance Time
0044H LT-4 IGBT Maintenance Time (50%)
0045H boL Braking Transistor Overload Fault
Continued on next page.

10-72
 10.6 Inverter Alarm and Warning Codes
A1000

Continued from previous page.

Warning Code Digital Operator
Name
(IW1A*1/IW32*2) Display
0048H oH5 Motor Overheat (NTC Input)
0049H dWAL DriveWorksEZ Fault
004DH THo Thermistor Disconnect
*1. You can monitor in the following cases.
• When the Inverter Drive Control command is executed when bit 7 (Warning code) of Input Data Option Selection
(OW0D) is ON
• When the Inverter I/O Control subcommand is executed when bit 7 (Warning code) of Auxiliary Input Data Option
Selection (OW0F) is ON
*2. You can monitor the current warning codes when the Alarm Monitor or Alarm History Monitor command is exe-
cuted.

Errors Detected in MECHATROLINK-III Interface Cards

 MECHATROLINK-III Communications Errors

Code
Type Description
(IW2C Bits 8 to B)
1H Frame Check Sequence (FCS) error
Warnings 2H Command data not received
3H Synchronous frame not received
8H Frame Check Sequence (FCS) error
9H Command data not received
Alarms AH Synchronous frame not received
BH Synchronization interval error
CH WDT error

 MECHATROLINK-III Command Errors

Code
Type Description
(IW2C Bits C to F)
Warnings 1H Invalid data
8H Unsupported command received
9H Invalid data
Alarms AH Command execution condition error
BH Sub-command combination error
CH Phase error
Inverter Operation

10

10-73
 10.6 Inverter Alarm and Warning Codes
V1000

V1000

Inverter Alarms
Alarm Code Digital Operator
Name
*1
(IW19 /IW32 ) *2 Display
0002H Uv1 Undervoltage
0003H Uv2 Control Power Supply Undervoltage
0004H Uv3 Soft Charge Circuit Fault
0005H SC IGBT Short Circuit
0006H GF Ground Fault
0007H oC Overcurrent
0008H ov Overvoltage
0009H oH
Heatsink Overheat
000AH oH1
000BH oL1 Motor Overload
000CH oL2 Drive Overload
000DH oL3 Overtorque Detection 1
000EH oL4 Overtorque Detection 2
000FH rr Dynamic Braking Transistor
0010H rH Dynamic Braking Resistor
0011H to 0015H EF3 to EF7 External Fault (input terminal S3 to S7)
0018H oS Overspeed (for simple V/f with PG)
0019H dEv Excessive Speed Deviation (for simple V/f with PG)
001AH PGo PG Disconnect (for simple V/f with PG)
001BH PF Input Phase Loss
001CH LF Output Phase Loss
001DH oH3 Motor Overheat 1 (PTC input)
001EH oPr Operator Connection Fault
001FH Err EEPROM Write Error
0020H oH4 Motor Overheat 2 (PTC input)
0021H CE MEMOBUS/Modbus Communication Error
0022H bUS Option Communication Error
0025H CF Control Fault
0027H EF0 Option External Fault
0028H FbL PID Feedback Loss
0029H UL3 Undertorque Detection 1
002AH UL4 Undertorque Detection 2
002BH oL7 High Slip Braking oL
0036H LF2 Current Imbalance
0037H STo Pull-Out Detection
0039H E5 MECHATROLINK Watchdog Timer Error
003BH SEr Too Many Speed Search Restarts
0041H FbH Excessive PID Feedback
0042H EF1 External Fault (input terminal S1)
0043H EF2 External Fault (input terminal S2)
0044H oL5 Mechanical Weakening Detection 1
0045H UL5 Mechanical Weakening Detection 2
Continued on next page.

10-74
 10.6 Inverter Alarm and Warning Codes
V1000

Continued from previous page.

Alarm Code Digital Operator
Name
(IW19*1/IW32*2) Display
0046H CoF Current Offset Fault
0049H dWFL DriveWorksEZ Fault
0052H nSE Node Setup Error
0083H CPF02 A/D Conversion Error
0084H CPF03 PWM Data Fault
Drive specification mismatch during Terminal Board
0087H CPF06
or Control Board replacement
0088H CPF07 Terminal Board Communication Fault
0089H CPF08 EEPROM Serial Communication Fault
008CH CPF11 RAM Fault
008DH CPF12 FLASH Memory Fault
008EH CPF13 Watchdog Circuit Exception
008FH CPF14 Control Circuit Fault
0091H CPF16 Clock Fault
0092H CPF17 Timing Fault
0093H CPF18
Control Circuit Fault
0094H CPF19
RAM Fault
FLASH Memory Fault
0095H or 0096H CPF20 or CPF21
Watchdog Circuit Exception
Clock Fault
0097H CPF22 A/D Conversion Fault
0098H CPF23 PWM Feedback Data Fault
0099H CPF24 Drive Capacity Signal Fault
009AH CPF25 Terminal Board Not Connected
0101H oFA00 Option Card Connection Error at Option Port CN5-A
0102H oFA01
0104H oFA03 Option Card Fault (Port A)
0105H oFA04
0131H to 013EH oFA30 to oFA43 Option Card Fault (Port A)
*1. You can monitor in the following cases.
• When the Inverter Drive Control command is executed when bit 6 (Alarm code) of Input Data Option Selection
(OW0D) is ON
• When the Inverter I/O Control subcommand is executed when bit 6 (Alarm code) of Auxiliary Input Data Option
Selection (OW0F) is ON
*2. You can monitor the current alarm codes when the Alarm Monitor or Alarm History Monitor command is executed.
Inverter Operation

10

10-75
 10.6 Inverter Alarm and Warning Codes
V1000

Inverter Warnings
Warning Code Digital Operator
Name
*1
(IW1A /IW32 ) *2 Display
– CrST Can Not Reset
– PASS MEMOBUS/Modbus Test Mode Complete
0001H Uv Undervoltage
0002H ov Overvoltage
0003H oH Heatsink Overheat
0004H oH2 Drive Overheat
0005H oL3 Overtorque 1
0006H oL4 Overtorque 2
0007H EF Run Command Input Error
0008H bb Drive Baseblock
0009H to 000DH EF3 to EF7 External Fault (input terminal S3 to S7)
0010H oS Overspeed (for Simple V/f with PG)
0011H dEv Excessive Speed Deviation (for Simple V/f with PG)
0012H PGo PG Disconnect (for Simple V/f with PG)
0014H CE MEMOBUS/Modbus Communication Error
0015H bUS Option Card Communications Error
001AH EF0 Option Card External Fault
001BH rUn During Run 2, Motor Switch Command Input
001DH CALL Serial Communication Transmission Error
001EH UL3 Undertorque 1
001FH UL4 Undertorque 2
0020H SE MEMOBUS/Modbus Test Mode Fault
0022H oH3 Motor Overheat
0027H FbL PID Feedback Loss
0028H FbH Excessive PID Feedback
002AH dnE Drive Disabled
0031H E5 MECHATROLINK Watchdog Timer Error
0032H AEr Station Address Setting Error (MECHATROLINK)
0033H CyC MECHATROLINK Comm. Cycle Setting Error
0034H HCA Current Alarm
0035H LT-1 Cooling Fan Maintenance Alarm
0036H LT-2 Capacitor Maintenance Alarm
0039H EF1 External Fault (input terminal S1)
003AH EF2 External Fault (input terminal S2)
003BH HbbF
Safe Disable Signal Input
003CH Hbb
003DH oL5 Mechanical Weakening Detection 1
003EH UL5 Mechanical Weakening Detection 2
0042H TrPC IGBT Maintenance Time (90%)
0043H LT-3 Soft Charge Bypass Relay Maintenance Time
0044H LT-4 IGBT Maintenance Time (50%)
0049H dWAL DriveWorksEZ Alarm
*1. You can monitor in the following cases.
• When the Inverter Drive Control command is executed when bit 7 (Warning code) of Input Data Option Selection
(OW0D) is ON
• When the Inverter I/O Control subcommand is executed when bit 7 (Warning code) of Auxiliary Input Data Option
Selection (OW0F) is ON
*2. You can monitor the current warning codes when the Alarm Monitor or Alarm History Monitor command is exe-
cuted.

10-76
 10.6 Inverter Alarm and Warning Codes
V1000

Errors Detected in MECHATROLINK-III Interface Cards

 MECHATROLINK-III Communications Errors

Code
Type Description
(IW2C Bits 8 to B)
1H Frame Check Sequence (FCS) error
Warnings 2H Command data not received
3H Synchronous frame not received
8H Frame Check Sequence (FCS) error
9H Command data not received
Alarms AH Synchronous frame not received
BH Synchronization interval error
CH WDT error

 MECHATROLINK-III Command Errors

Code
Type Description
(IW2C Bits C to F)
Warnings 1H Invalid data
8H Unsupported command received
9H Invalid data
Alarms AH Command execution condition error
BH Sub-command combination error
CH Phase error

Inverter Operation

10

10-77
 11
Utility Functions

This chapter describes the Machine Controller and SERVOPACK

utility functions, such as vertical axis control, overtravel, software
limits, modal latching, and slave CPU synchronization. This chap-
ter also describes the parameters that are automatically updated
under specific conditions and it provides precautions for using
Σ-7-series SERVOPACKs.

11.1 Controlling Vertical Axes . . . . . . . . . . . . . . . . . . 11-3

SERVOPACK Holding Brake . . . . . . . . . . . . . . . . . . . . . . . . 11-3
Connecting to a Σ-V Servo Drive . . . . . . . . . . . . . . . . . . . . . 11-4

11.2 Overtravel . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-6

Overtravel Input Signal Connections . . . . . . . . . . . . . . . . . . 11-6
Parameter Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-7

11.3 Software Limits . . . . . . . . . . . . . . . . . . . . . . . . . 11-9

Software Limit Parameter Selection . . . . . . . . . . . . . . . . . . . 11-9
Related Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-10
Comparison with the MP2000-series SVC-01 Module . . . . 11-11
The Effects of Software Limits . . . . . . . . . . . . . . . . . . . . . . 11-11
Processing after an Alarm Occurs . . . . . . . . . . . . . . . . . . . 11-12

11.4 Modal Latching . . . . . . . . . . . . . . . . . . . . . . . . 11-13

11.5 Waiting for Slave Detection . . . . . . . . . . . . . . . 11-15

Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-15
Applicable Versions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-15
Operating Procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-16
Timing to Complete Slave Detection . . . . . . . . . . . . . . . . . 11-18
Indicators When the Power Is Turned ON . . . . . . . . . . . . . 11-18
Precautions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-19
11.6 Slave CPU Synchronization . . . . . . . . . . . . . . . 11-20
Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-20
Applicable Versions and Execution Conditions . . . . . . . . . 11-21
Setting Procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-22
I/O Registers . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-26
Execution Flow for Slave CPU Synchronization . . . . . . . . 11-27
Procedure to Turn ON Power . . . . . . . . . . . . . . . . . . . . . . . 11-28
Confirmation That the Slave CPU Is Synchronized . . . . . . 11-28
Handling Input Errors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-29
Effect on Application Program . . . . . . . . . . . . . . . . . . . . . . 11-30
Operation of the Slave Machine Controller . . . . . . . . . . . . 11-31
Precautions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-32

11.7 Automatically Updated Parameters . . . . . . . . . 11-33

Automatically Updated Parameters
When a MECHATROLINK Connection Is Established . . . . 11-33
Automatically Updated Parameters
When a Setting Parameter Is Changed . . . . . . . . . . . . . . . 11-35
Automatically Updated Parameters
When a Motion Command Is Executed . . . . . . . . . . . . . . . 11-36
Parameters Automatically Updated
during Self Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . 11-38

11.8 Precautions When Using Σ-7-series SERVOPACKs . . 11-39

Machine Controllers That Support the Σ-7-series
SERVOPACKs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-39
Σ-7-series SERVOPACK Electronic Gear
Ratio and Machine Controller Settings . . . . . . . . . . . . . . . . 11-40
Link Assignments . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-41
Number of Pulses Per Motor Rotation . . . . . . . . . . . . . . . . 11-41
Self Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-41
Operating Specifications When Using a Machine
Controller That Supports the Σ-7-series SERVOPACKs . . 11-42
Operating Specifications When Using a Machine
Controller That Does Not Support the Σ-7-series
SERVOPACK . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-44
 11.1 Controlling Vertical Axes
SERVOPACK Holding Brake

11.1 Controlling Vertical Axes

This section describes the connection methods and parameter settings that are required to use the SERVO-
PACK to control a vertical axis.

SERVOPACK Holding Brake

When a SERVOPACK is used to control a vertical axis or an axis to which an external force is being
applied, a Servomotor with a brake must be used to prevent the work load from dropping or moving due to
gravity or the external force when the system power supply is turned OFF.
Vertical Axis Axis with External Force
Servomotor

Holding brake External force Servomotor

Prevents movement
due to gravity when the
power supply is turned
OFF.

The holding brake of the Servomotor is controlled through the brake output (/BK) signal from the SER-
VOPACK. The brake is not controlled from the Machine Controller.

The brake that is built into the Servomotor uses non-excitation operation. It is for use as a holding
brake only. It cannot be used to control or stop axis movement. Use the holding brake only to hold the
axis in a stopped state after the motor has stopped. The torque of the brake is 100% or higher of the
Important
rated torque of the motor.

Utility Functions

11

11-3
 11.1 Controlling Vertical Axes
Connecting to a Σ-V Servo Drive

Connecting to a Σ-V Servo Drive

This section describes how to connect to a Σ-V-series Servo Drive (SGDV).

Brake ON/OFF Circuit Example

A circuit is configured to turn the brake ON and OFF using the /BK contact output signal from the SER-
VOPACK and a brake power supply. The following diagram shows a standard connection example.
Servomotor with
SERVOPACK a holding brake

Power supply
L1 U
L2 V
L3 M
W
L1C
L2C
CN2 ENC

+24 V BK
CN1
(/BK+) BK-RY Surge
absorber
(/BK-) 1D 0V

AC side DC side

Brake power
source*2 BK-RY*1
Blue or yellow Red
White AC DC Black

*1. BK-RY: Brake control relay

*2. 90-V brake power source 200-V input voltage: LPSE-2H01-E
100-V input voltage: LPDE-1H01-E
A 24-VDC power supply must be supplied if a 24-V brake is used.
Note: Refer to the relevant SERVOPACK manual for connection details.

Parameter Settings
The SERVOPACK parameters that are related to controlling the holding brake are listed in the following
table.
Set Value/Setting Valid Control
Parameter Name Unit Default
Range Modes
0: Brake is not used.
1: Terminals 1 and 2 Speed, torque, or
Pn50F.2 Output Signal Selection 2 − 1
2: Terminals 23 and 24 position control
3: Terminals 25 and 26

Details
This parameter determines (0 to 3 above) which CN1 pins are used to output the /BK signal.

Pn50F.2 Output Terminals

/BK 1
CN1-1, 2 (SO1)
Brake output 2
CN1-23, 24 (SO2)
3
CN1-25, 26 (SO3)

11-4
 11.1 Controlling Vertical Axes
Connecting to a Σ-V Servo Drive

Set Value/Setting Valid Control

Parameter Name Unit Default
Range Modes
Brake Reference - Servo Speed, torque, or
Pn506 10 ms 0 to 50 0
OFF Delay Time position control

Details
This parameter adjusts the delay time from when the /BK signal is output until the Servomotor turns OFF.
Set this parameter when the machine moves slightly due to gravity or other forces after the brake is turned
ON.

/S-ON input Servo ON Servo OFF

Brake
/BK output released. Brake held.

Motor ON
Servo ON/OFF Motor OFF
Pn506

Servo OFF delay

Setting Precautions
• This parameter is used to set when the motor stops. Set Pn507 and Pn508 to operate the brake while the
motor is running.
• Under the standard settings, the Servomotor turns OFF simultaneously with the /BK output (brake oper-
ation). If gravity causes the machine to move slightly at this time due to the machine configuration or the
brake characteristics, you can delay when the Servomotor is turned OFF to reduce the movement.
Set Value/Setting Valid Control
Parameter Name Unit Default
Range Modes
Brake Reference Out- Speed, torque, or
Pn507
put Speed Level min-1 0 to 10,000 100
position control
Servo OFF - Brake
Speed, torque, or
Pn508 Reference Waiting 10 ms 0 to 100 50
position control
Time

Details
These parameters are used to set the timing for applying the brake when the Servomotor turns OFF due to
an /S-ON input signal or when an alarm occurs.
• Conditions for Brake Operation during Servomotor Operation
The brake will operate when one of the following conditions is met.
• When the motor speed is equal to or less than the setting of Pn507 after power to the motor is turned OFF
• When the time set in Pn508 has elapsed after power to the motor is turned OFF
Servo
Power OFF ON
on /S-ON Servo OFF
input or alarm
DB stop or
free-run stop
Motor speed (Pn001.0)
Utility Functions

Pn507
Brake
released. Brake held.
/BK output
Pn508

Setting Precautions
11
The brake on the Servomotor is designed as a holding brake and it must be applied only after the motor has
stopped. Adjust this parameter while observing the operation of the machine.

11-5
 11.2 Overtravel
Overtravel Input Signal Connections

11.2 Overtravel
Overtravel forces the machine to stop when any moving part of the machine exceeds the range of move-
ment. With a Machine Controller, the process for stopping as a result of overtravel is achieved through the
use of SERVOPACK functions.
Set the required parameters and ensure that the overtravel input signals are connected correctly for over-
travel. The required parameter settings and how to connect to a Σ-V Servo Drive are described below.

Overtravel Input Signal Connections

Connect the input signals for the overtravel limit switches correctly as shown below to the corresponding
pins on the SGDV SERVOPACK’s CN1 connector.
Servomotor Negative side Positive side

Negative Positive SGDV

overtravel overtravel SERVOPACK
P-OT
CN1-7
N-OT
CN1-8

When ON Forward drive is enabled.

CN1-7 is low. Normal operation
P-OT
When OFF Forward drive is disabled.
CN1-7 is high. (Movement is in the negative direction.)
When ON Reverse drive is enabled.
CN1-8 is low. Normal operation
N-OT
When OFF Reverse drive is disabled.
CN1-8 is high. (Movement is in the positive direction.)

11-6
 11.2 Overtravel
Parameter Settings

Parameter Settings
This section describes the parameter settings for overtravel.

Enabling or Disabling Overtravel Input Signals

The following parameters are used to enable or disable the overtravel input signals.
Parameter Description Setting Item Default
This setting enables the use of the Forward Run Pro-
1 (recom-
P-OT Signal hibited signal (P-OT). (Positive rotation prohibited
Pn50A.3 mended) 1
Mapping when open or allowed at 0 V.)
8 This setting disables the P-OT signal.
This setting enables the use of the Reverse Run Pro-
2 (recom-
N-OT Signal hibited signal (N-OT). (Negative rotation prohibited
Pn50B.0 mended) 2
Mapping when open or allowed at 0 V.)
8 This setting disables the N-OT signal.

Setting Precautions
• These parameters are disabled when self configuration is performed.

Selecting Motor Stopping Methods for Overtravel

When overtravel is used, the following parameters are used to set the method for stopping the motor.
Select the method for stopping when the P-OT or N-OT is input while the Servomotor is running.
Parameter Description Settings Item Default
This setting stops the Servomotor with the same
0 (recom-
stop method that is used when the Servomotor is
mended)
turned OFF (based on the setting of Pn001.0).
This setting decelerates the Servomotor to a stop
by applying the specified torque when overtravel
1 is detected, and then sets it to Zero Clamp (Servo
Overtravel Stop
Pn001.1 Lock) Mode. (Specified torque: Pn406 (Emer- 0
Mode
gency Stop Torque))
This setting decelerates the Servomotor to a stop
by applying the specified torque when overtravel
2 is detected, and then sets it to free-run mode.
(Specified torque: Pn406 (Emergency Stop
Torque))
This setting stops the Servomotor by applying the
0 (recom-
dynamic brake (DB). The DB is held after stop-
mended)
ping.
Stops the Servomotor by applying the dynamic
Servomotor Power 1 brake (DB), and then releases the DB and puts the
Pn001.0 0
OFF Stop Mode Servomotor into Free-run Mode.
Utility Functions

This setting makes the Servomotor free-run to a

stop.
2
The Servomotor is turned OFF. The machine
stops due to friction.

11

11-7
 11.2 Overtravel
Parameter Settings

Overtravel
Stop Method After Stopping Pn001.1
Pn001.0 = 0 or 1 Setting
DB stop
Pn001.1 = 0
Free-run Mode 0
Pn001.0 = 2
Free-run stop

Zero clamp 1
Pn001.1 = 1 or 2
Decelerating stop

Free-run Mode 2

11-8
 11.3 Software Limits
Software Limit Parameter Selection

11.3 Software Limits

Software limits are used to set upper and lower limits for the range of machine movement in fixed or set-
ting parameters so that the Machine Controller can constantly monitor the operating range of the machine.
Software limits can be used to help prevent machine runaway or damage due to incorrect operation or
incorrect references in a motion program.
Software limits can be used under the following conditions:
• When software limits are enabled (i.e., bits 1 and 2 in fixed parameter No. 1 are both set to 1)
• When a finite-length axis is used (i.e., bit 0 in fixed parameter No. 1 is set to 0)
• When the zero point return/setting has completed (i.e., bit 5 in the IW0C monitor parameter is set
to 1)
Disable the software limits in the SERVOPACK to use the Machine Controller for position management in
the machine coordinate system. Refer to the relevant SERVOPACK manual for setting details.

Motor

Negative Positive
overtravel overtravel

Negative software Machine movement Positive

limit range software

Software Limit Parameter Selection

Software limit values can be set in the following fixed or setting parameters.
• Fixed parameters No. 12 (Positive Software Limit) and No. 14 (Negative Software Limit)
Use these parameters if you do not need to change the software limits after setting them.
• OL66 setting parameter (Positive Software Limit) and OL68 setting parameter (Negative
Software Limit)
Use these parameters if you need to change the software limits based on the workpieces that are pro-
cessed.
Bit C (Software Limit Parameter Selection) in fixed parameter No. 1 is used to select between the use of
the setting parameters or the fixed parameters for software limits.
Software Limit Parameter Selection
Fixed Parameter (Bit C in fixed parameter No. 1)

No.12 Positive Software Limit

=0
No.14 Negative Software Limit

Valid software limits

Setting Parameters
Utility Functions

OL66 Positive Software Limit

=1
OL68 Negative Software Limit

11

11-9
 11.3 Software Limits
Related Parameters

1. Only one set of software limit values can be valid at any given time (either those set in the relevant
fixed parameters or those in the relevant setting parameters). Both sets cannot be used together at
the same time.
Note
2. If bit C (Software Limit Parameter Selection) in fixed parameter No. 1 is set to 1 (Setting parame-
ter), software limits can be changed even during axis operation. Therefore, a software limit alarm
may be detected due to a change in the software limits. Refer to the following section for details.
Processing after an Alarm Occurs (page 11-12)

Related Parameters
Set and check the following parameters when using software limits.

 Fixed Parameters
Setting
No. Name Setting Range Default
Unit
0: Finite-length axis
No.1 Bit 0 Axis Selection − 0: Finite-length axis
1: Infinite-length axis
0: Disabled
No.1 Bit 1 Enable Positive Software Limit − 0: Disabled
1: Enabled
0: Disabled
No.1 Bit 2 Enable Negative Software Limit − 0: Disabled
1: Enabled
Software Limit Parameter Selec- 0: Fixed parameters
No.1 Bit C − 0: Disabled
tion 1: Setting parameters
Reference
No.12 Positive Software Limit −231 to 231−1 units 231−1
Reference
No.14 Negative Software Limit −231 to 231−1 units −231

 Setting Parameters
Setting
Register Address Name Setting Range Default
Unit
0: Finite-length axis Reference
OL66 Positive Software Limit 0: Finite-length axis
1: Infinite-length axis units
0: Disabled Reference
OL68 Negative Software Limit 0: Disabled
1: Enabled units

 Monitor Parameters
Register Address Name Setting Range Default
0: Zero point return/set-
ting not completed
IW0C Bit 5 Zero Point Return/Setting Completed −
1: Zero point return/set-
ting completed

The software limit is enabled only after the zero point return or set zero point operation has been com-
pleted. Perform a zero point return again or set the zero point in the following cases:
• When the power supply is turned ON
Note
• When a fixed parameter is changed and saved

11-10
 11.3 Software Limits
Comparison with the MP2000-series SVC-01 Module

Comparison with the MP2000-series SVC-01 Module

Software limits are different for the MP3000-series SVC or SVC32 Function Module and the MP2000-
series SVC-01 Module.
The following table shows the differences.
MP3000
Item MP2000 SVC-01 Module
SVC or SVC32
Software Limits  
Changing software limits via the FIX-
PRM_CHG (Change Fixed Parameter)  
motion subcommand
Software Limit Parameter Selection  ×
Note: : Supported, ×: Not supported.

The Effects of Software Limits

If a position command that exceeds the positive or negative software limit is executed with software limits
enabled, an alarm occurs and the Machine Controller stops the axis. The way in which the axis stops
depends on the motion command, as shown in the following table.
Motion Commands Axis Stop Operation
POSING
EX_POSING
The axis starts decelerating before the software limit position and
FEED
stops at the software limit position.
STEP
EX_FEED
INTERPOLATE
Pulse distribution stops at the software limit position.
ENDOF_INTERPOLATE
The Servomotor performs an emergency stop.
LATCH
VELO
The axis starts decelerating at the software limit position and
TRQ
stops beyond the software limit position.
PHASE

Setting Precautions
• Software limit settings are not valid for the ZRET command.
• If a software limit is detected after an external signal is detected and during the external positioning
travel distance for an EX_POSING or EX_FEED operation, the axis starts decelerating at the software
limit position and stops beyond the software limit position.
Utility Functions

11

11-11
 11.3 Software Limits
Processing after an Alarm Occurs

Processing after an Alarm Occurs

This section describes the processing that occurs after an alarm.

Monitoring Alarms
If an axis exceeds a software limit, a positive/negative software limit alarm occurs. This alarm can be
monitored via the IL04 monitor parameter (Alarms).
Register
Name Description
Address
Bit 3 Positive software limit
IL04 Alarms
Bit 4 Negative software limit

Clearing Software Limit Alarms

Use the following procedure to clear software limit alarms.
1. Set bit F (Clear Alarm) in the OW00 setting parameter to 1 (Clear Alarm ON).
This clears the alarms in IL04.
Register Address Name Description
OW00 Operation Command Settings Bit F Clear Alarm

2. Use the FEED or STEP command to move back within the software limit.

A reference in the return direction is accepted.

Motor

If a reference is issued in the same direction

as the software limit, an alarm will occur again.

Negative software limit Positive software limit

11-12
 11.4 Modal Latching

11.4 Modal Latching

A modal latch can be used to latch a position independently from the motion command being executed as
long as the motion command being executed is not a motion command with a latch function, such as EX_-
POSING, ZRET, LATCH, or EX_FEED.

Information If a motion command with a latch function, such as EX_POSING, ZRET, LATCH, or EX_FEED,
is executed while a modal latch is in use, the motion command takes priority over the modal latch
and is executed first.

Latch Request
A latch request is sent when bit 4 (Latch Detection Request) in the OW00 setting parameter
changes from 0 (OFF) to 1 (ON).
When the latch is completed, bit 2 (Latch Completed) in the IW0C monitor parameter changes to 1
(Latch completed).
The latch position is reported in the IL18 monitor parameter (Machine Coordinate System Latch
Position (LPOS)).
Bit 4 in OW00
Latch Detection Request T*
Latch signal

Bit 2 in IW0C
Latch Completed
* T ≥ t1 + t2 + t3 where T = Latch processing time
t1 = Communications cycle
t2 = 2 scans
t3 = Standard SERVOPACK latch processing time (≤ 4 ms)

Canceling a Latch Request

Set bit 4 (Latch Detection Request) in the OW00 setting parameter to 0 (OFF) to cancel the latch
request.

Latch Signals
Phase-C pulse, /EXT1, /EXT2, and /EXT3 signals can be used for latches. Select the latch signal to use via
bits 0 to 3 (Latch Detection Signal Selection) in OW04.
Utility Functions

11

11-13
 11.4 Modal Latching

Related Parameters
The parameters that are related to the modal latch function are listed in the following table.
Parameter Type Register Address Name Description
A latch request is made when this
OW00 bit changes from 0 to 1.
Latch Detection Request
Bit 4 The latch request is canceled when
this bit changes from 1 to 0.
Setting Parameters
2: Phase-C pulse
OW04 Latch Detection Signal 3: /EXT1
Bits 0 to 3 Selection 4: /EXT2
5: /EXT3
0: Latch detection request not
IW00 Bit 4 Latch Mode received
1: Latch detection request received
Monitor Parameters 0: Latch not complete
IW0C Bit 2 Latch Completed
1: Latch completed
Machine Coordinate Sys-
IL18 1 = 1 reference unit
tem Latch Position

11-14
 11.5 Waiting for Slave Detection
Overview

11.5 Waiting for Slave Detection

Overview
You can use waiting for slave detection to repeatedly search for MECHATROLINK-III slave stations for a
user-specified time when the power supply to the Machine Controller is turned ON. Even if MECHA-
TROLINK-III communications for slave stations start later than communications for the Machine Con-
troller, the Machine Controller will detect the slave stations so that normal communications can be
established without setting up external interlocks.

Machine Controller SERVOPACK

Power ON (MECHATROLINK-III
slave station)

M-III communications initialization process

Start of repetition
Power ON
Repeat for the Slave detection
Startup time specified time. process Slave
M-III communications
detection
initialization process
End of repetition
Completion
of startup

Communications
establishment process

Completion
of startup

Applicable Versions
The following tables list the firmware and Engineering Tool versions that support waiting for slave detec-
tion.

 MP3000-series Machine Controllers

Product Model Version
MP3200/CPU-201 JEPMC-CP3201-E
MP3200/CPU-202 JEPMC-CP3202-E
Version 1.17 or later
MP3300/CPU-301 for 16 axes JAPMC-CP3301-1-E
Utility Functions

MP3300/CPU-301 for 32 axes JAPMC-CP3301-2-E

 Engineering Tool
Product Model Version
MPE720 Version 7 CPMC-MPE780 Version 7.31 or later
11

11-15
 11.5 Waiting for Slave Detection
Operating Procedure

Operating Procedure
Use the following procedure to enable waiting for slave detection.
1. Start the MPE720 on a computer that is connected to the Machine Controller.
2. In the Main Window of the MPE720, click Setup - Module configuration from the Launcher, or
Module Configuration from the Start Menu.

The Module Configuration Tab Page will be displayed.

3. Double-click the SVC32 cell in the Module Configuration Tab Page.

The MECHATROLINK Communications Definition Dialog Box is displayed.

4. Click the Transmission Parameters Tab.

The Transmission Parameters Tab Page will be displayed.

11-16
 11.5 Waiting for Slave Detection
Operating Procedure

5. Set the slave detection waiting time.

Setting
Item Description Default
Range
0 to 10 s (in
Slave Detection Waiting This parameter sets the maximum time to continuously
0s 1-s incre-
Time perform detection processing for slave stations.
ments)

6. Save the settings to flash memory.

7. Turn ON the power supply to the Machine Controller.
The Machine Controller will wait for slave detection for the slave detection wait time.
This concludes the procedure.

Utility Functions

11

11-17
 11.5 Waiting for Slave Detection
Timing to Complete Slave Detection

Timing to Complete Slave Detection

 When All Slave Stations Can Communicate before the Start of Slave Detection
All slave stations are detected immediately after the start of slave detection processing, and slave detection
processing is completed.

 When All Slave Stations Can Communicate during the Slave Detection Wait Time
Waiting for slave detection is ended when all slave stations can communicate, and slave detection process-
ing is completed.

 When There Are Slave Stations That Cannot Communicate during the Slave Detection
Wait Time
Slave detection processing is completed after it has been repeated for the set slave detection wait time.
Communications are established with only the detected slave stations.

Indicators When the Power Is Turned ON

The indicators change as shown below when the Machine Controller is waiting for slave detection.
The length of this process increases
according to the slave detection time.

RDY RUN RDY RUN RDY RUN RDY RUN

ALM ERR ALM ERR ALM ERR ALM ERR

Hardware Reset Initialization in Progress Drawing A Execution Normal User Program Execution

11-18
 11.5 Waiting for Slave Detection
Precautions

Precautions

Unconnected Stations
When there are unconnected stations, the time for the Machine Controller to complete startup will increase
by the length of the slave detection wait time. Therefore, the use of this function may affect Modules other
than the SVC Module for which waiting for slave detection is performed.

Example When the Machine Controller is connected via Ethernet to a PLC, touch panel, or other host
device.

Cases Where Waiting for Slave Detection Will Not Be Executed

The Machine Controller will not wait for slave detection in the following cases, even when a slave detec-
tion wait time has been set.
No. Case Description
The Machine Controller has completed
The Machine Controller will not wait for slave detection after
startup.
1 it has started, even if the set value of the slave detection wait
(The RDY indicator on the CPU Module is
time is changed.
lit.)
The Machine Controller will not wait for slave detection
2 No stations have been assigned links.
because there are no slave stations to detect.

Cases Where the Slave Detection Wait Time Is Initialized

The slave detection wait time is initialized to 0 s in the following cases.
No. Case Description
The slave detection wait time cannot be set, and the set value
1 The SVC is set as a slave.
will be initialized to 0 s.
DIP switch pins SW3 (CNFG) and SW4
(INIT) were both turned ON, and the power The set value will be initialized to 0 s because the MECHA-
2
supply to the Machine Controller was turned TROLINK definitions will be initialized.
ON.

Utility Functions

11

11-19
 11.6 Slave CPU Synchronization
Overview

11.6 Slave CPU Synchronization

Overview
Slave CPU synchronization is used for configurations with master and slave Machine Controllers that
have CPU Units/CPU Modules with built-in SVC or SVC32 Function Modules in order to synchronize the
high-speed scan cycles of the master and slave Machine Controllers.
When multiple Machine Controllers are connected as slaves, the high-speed scans in all of the Machine
Controllers connected as slaves will be synchronized. The references sent from the application program in
the master will be transmitted to all of the Machine Controllers connected as slaves at the same time. If
you mount Option Modules in the slaves, you can synchronize the operation of the axes connected to the
Option Modules.
With slave CPU synchronization, you can distribute the application programming in the Machine Control-
lers to distribute the application loads on the CPUs and expand memory.
The following figure shows a system configuration example.
Master

Slave SVC-01 Module Slave SVC-01 Module

RUN ERR RUN ERR

LK1 LK2 LK1 LK2

M/S M/S
OFF ON OFF ON

A delay will occur in MECHATROLINK-III communications until the references from the application
program in the master reach the slaves. Therefore, the operation of the SERVOPACKs connected to the
Note master will not be synchronized with the operation of the SERVOPACKs connected to the slaves.

11-20
 11.6 Slave CPU Synchronization
Applicable Versions and Execution Conditions

Applicable Versions and Execution Conditions

Applicable Versions
To use slave CPU synchronization, the SVC or SVC32 in both the master and slave must support slave
CPU synchronization. The applicable versions are given in the following tables.

 Master
CPU Unit/
Model Versions
CPU Module
CPU-201 JEPMC-CP3201-E Version 1.06 or later

 Slave
CPU Unit/
Model Versions
CPU Module
CPU-201 JEPMC-CP3201-E Version 1.06 or later

Execution Conditions
To use slave CPU synchronization, the execution conditions must be met in both the master and slave. If
the conditions are not met, the Machine Controllers will operate without synchronizing the high-speed
scan cycles between the master and slave.

 Master
• The CPU Unit/CPU Module must be version 1.06 or later.
• The high-speed scan setting must be an integer multiple of or an integer fraction of 1 of the MECHA-
TROLINK communications cycle setting.

 Slave
• The CPU Unit/CPU Module must be version 1.06 or later.
• The CPU Unit/CPU Module hardware must support slave CPU synchronization.*
• The high-speed scan setting must be an integer multiple of or an integer fraction of 1 of the MECHA-
TROLINK communications cycle setting.
• The high-speed scan setting must be an integer multiple of or an integer fraction of 1 of the high-speed
scan setting in the master.
• Slave synchronization must be enabled in the MECHATROLINK Communications Definition Dialog
Box.
• The SLVSC (Slave CPU Synchronization Restart Control) command control bit in the output registers
Utility Functions

must be set to OFF.

* You can check the hardware subversion in the SW00639 system register.
SW00639 ≥ 2

11

11-21
 11.6 Slave CPU Synchronization
Setting Procedure

 Setting Example
Master

MECHATROLINK Communications Cycle : 1 ms

*1
High-speed scan : 4 ms
*3

Slave *2

High-speed scan : 2 ms

*1. The high-speed scan setting on the master is an integer multiple of the MECHATROLINK communications cycle
setting.
*2. The high-speed scan setting on the slave is an integer fraction of 1 of the master high-speed scan setting.
*3. The high-speed scan setting on the slave is an integer multiple of the MECHATROLINK communications cycle set-
ting.

Setting Procedure
The MPE720 is used to make the settings to use slave CPU synchronization. Use the following procedure
to set the MECHATROLINK communications definitions on the master and slave.

• To use slave CPU synchronization, you cannot use a PO-01 or MPU-01 Option Module on the slave.
If the PO-01 or MPU-01 is used, disable slave CPU synchronization.
• If you change the SVC or SVC32 settings from a slave to a master, save the settings to flash mem-
Note
ory, and then turn the power supply OFF and ON again.

Master Settings
1. Double-click the SVC32 cell in the Module Configuration Definition Tab Page.

11-22
 11.6 Slave CPU Synchronization
Setting Procedure

The MECHATROLINK Communications Definition Dialog Box is displayed.

2. Click the Transmission Parameters Tab.

3. Select Master from the Master/Slave Box.
4. Click the Link Assignment Tab.
5. Make the following settings.

        

No. Item Description

 ADR Slave station address
 ExADR 0
 VENDOR Yaskawa Electric co.
 DEVICE SVC32
Utility Functions

 PROFILE Standard I/O

 BYTE 16, 32, 48, or 64
 D Not selected (I/O enabled).
 INPUT First register address in input area
 SIZE 8, 16, 24, or 32
 OUTPUT First register address in output area
11
SCAN High

11-23
 11.6 Slave CPU Synchronization
Setting Procedure

Slave Settings
1. Double-click the SVC32 cell in the Module Configuration Definition Tab Page.

The MECHATROLINK Communications Definition Dialog Box is displayed.

2. Click the Transmission Parameters Tab.

3. Select Slave from the Master/Slave Box.
4. Set the local station address in the My station address Box.

11-24
 11.6 Slave CPU Synchronization
Setting Procedure

5. Select Enable from the Slave synchronous function Box.

Note: You cannot enable this function on a sub CPU.

6. Click the Link Assignment Tab.

7. Make the following settings.

        

No. Item Description

 ADR Station address (fixed)
 ExADR 0
 VENDOR Yaskawa Electric co.
 DEVICE SVC32
 PROFILE Standard I/O
 BYTE 16, 32, 48, or 64 (Set the same value as you set for the master station.)
Utility Functions

 D Not selected (I/O enabled).

 INPUT First register address in input area
 SIZE 8, 16, 24, or 32 (Set the same value as you set for the master station.)
 OUTPUT First register address in output area
SCAN High (fixed)
11

11-25
 11.6 Slave CPU Synchronization
I/O Registers

I/O Registers
This section gives the configurations of the I/O registers on the master and slave.

The first addresses and sizes of the I/O register areas are set on the Link Assignment Tab Page in the
MECHATROLINK Communications Definition Dialog Box.
Note

Master I/O Register Configuration

Information Refer to the following section for details on register areas.
12.4 MECHATROLINK-III I/O Module Settings (page 12-18)

Output Registers Input Registers

7 6 5 3 2 1 0 7 6 5 3 2 1 0
OW I/O Command IW I/O Command Response
Reserved for system. Master Status
OW+1 IW+1
Command Control Command Status

OW+2 Output Data 1 Low IW+2 Input Data 1 Low

High High
OW+3 Output Data 2 Low IW+3 Input Data 2 Low
High High
OW+4 Output Data 3 Low IW+4 Input Data 3 Low
High High
OW+5 Output Data 4 Low IW+5 Input Data 4 Low
High High
OW+6 Output Data 5 Low IW+6 Input Data 5 Low
High High
OW+7 Output Data 6 Low IW+7 Input Data 6 Low
High High
 
 
 

11-26
 11.6 Slave CPU Synchronization
Execution Flow for Slave CPU Synchronization

Slave I/O Register Configuration

Information Refer to the following section for details on register areas.
Detailed Information When the SVC or SVC32 Is Set as a Slave (page 3-19)

Output Registers Input Registers

7 6 5 4 3 2 1 0 7 6 5 4 3 2 1 0
OW IW
Reserved for system. Reserved for system.

OW+1 IW+1
Command Control Command Status

OW+2 Output Data 1 Low IW+2 Input Data 1 Low

High High
OW+3 Output Data 2 Low IW+3 Input Data 2 Low
High High
OW+4 Output Data 3 Low IW+4 Input Data 3 Low
High High
OW+5 Output Data 4 Low IW+5 Input Data 4 Low
High High
OW+6 Output Data 5 Low IW+6 Input Data 5 Low
High High
OW+7 Output Data 6 Low IW+7 Input Data 6 Low
High High
 
 
 

Execution Flow for Slave CPU Synchronization

Operations on Master Operations on Slave

Power ON to Slave

Confirmation of Completion
of Slave Startup

SLVSC Control
Bit Turned ON Procedure to Turn ON Power
(page 11-28)
Confirmation of Completion of Slave
CPU Synchronization Preparations
Power ON to Master

SLVSC Control
Bit Turned OFF
Utility Functions

Confirmation That the Slave Confirmation That the Slave Confirmation That the Slave
CPU Is Synchronized CPU Is Synchronized CPU Is Synchronized (page
11-28)

11

11-27
 11.6 Slave CPU Synchronization
Procedure to Turn ON Power

Procedure to Turn ON Power

Use the following procedure to turn ON the power supply to the Machine Controller.
1. Turn ON the power supply to the slave Machine Controller.
2. Confirm that the SB000401 system register is 1 (RUN).
3. Use the application program to set the SLVSC command control bit to 1.
4. Turn ON the power supply to the master Machine Controller.
5. Confirm that the servo axes that are connected to the SVC or SVC32 at the slave are stopped.
Note: Confirm that there is no motion command for servo axis movement being executed and check the servo axis
status.

6. Set the SLVC command control bit to 0.

This concludes the procedure.
If the execution conditions are met, synchronization of the high-speed scan cycles will start automatically.

Confirmation That the Slave CPU Is Synchronized

Use the application program to check the status of slave CPU synchronization.

Confirmation Method on the Master

Check bit 7 (SYNC) in the Command Status parameter (IW+1) in the second word of the input
registers that were assigned to the master station.
SYNC = 1: Slave CPU is synchronized.
SYNC = 0: Slave CPU is not synchronized.
Refer to the following sections for details on the command status.
Command Status (page 12-39)

Input Registers
7 6 5 4 3 2 1 0
IW+0 I/O Command Response
Master Status
IW+1
Command Status

IW+2 Data 1 Low

High
IW+3 Data 2 Low

Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0

ALM_CLR
SYNC SYNCRDY SBUSY Not used. CMDRDY D_WAR D_ALM
_CMP

11-28
 11.6 Slave CPU Synchronization
Handling Input Errors

Confirmation Method on the Slave

Check bit 7 (SYNC) in the Command Status parameter (IW+1) in the second word of the input
registers that were assigned to the slave station.
SYNC = 1: Slave CPU is synchronized.
SYNC = 0: Slave CPU is not synchronized.
Refer to the following sections for details on the command status.
Command Status (page 12-39)

Input Registers
7 6 5 4 3 2 1 0
IW+0
(Not used.)

IW+1
Command Status

IW+2 Data 1 Low

High
IW+3 Data 2 Low

Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0

ALM_CLR_
SYNC SYNCRDY SBUSY Not used. CMDRDY D_WAR D_ALM
CMP

If synchronization is lost, e.g., due to a communications error, during slave CPU synchronization, slave
CPU synchronization will be automatically restarted if SLVSC (Slave CPU Synchronization Restart
Control) is set to 0 (restarting allowed). However, the input data starting from the third word in the
Note
input registers (IW + 2) that is input before SNYC changes to 1 (slave CPU synchronized)
will not be reliable, so do not use it.

Handling Input Errors

Write the application program so that input data is not used while there is an input error.
You can use the following procedure to check for input errors from the application programs in the master
and slave.
1. Check the Input Error Status system registers (SW00213 to SW00215).
Master: Bit status of station assigned to the slave
Slave: Bit status of local station number
1: I/O error
0: No I/O error
If there is an I/O error, the I/O data will be cleared to zeros. Refer to the following manual for details on
errors.
Utility Functions

MP3000 Series MP3200/MP3300 Troubleshooting Manual (Manual No.: SIEP C880725 01)

11

11-29
 11.6 Slave CPU Synchronization
Effect on Application Program

2. Check the Command Status input register (second word from the start).
Bit 0 D_ALM = 0
Bit 1 D_WAR = 0
Bit 2 CMDRDY = 1
Bit 7 SYNC = 1 (Only when slave CPU is synchronized.)
Bits 8 to 11 CMD_ALM = 0
Bits 12 to 15 COMM_ALM = 0
If any bit status is shown other than the above status, there is an error in the slave. Refer to the following
section for specific errors.
Command Status (page 12-39)

For the slave Machine Controller to detect an error, the input from the master Machine Controller must
be completed normally at least once. For example, if the power supply to the slave Machine Controller
is turned ON when it is not connected to the master, the bit for the local station in the I/O Error Status
Note
will remain at 0 (no error).

Recovering from Input Errors

Even if an input error occurs, processing in the Machine Controller will automatically switch to normal
reception, so no specific operation is required for recovery. However, if input errors occur frequently,
check the following items.
• Is the same station address set for more than one station?
• Has the count reached the value set in SW00044 (H Scan Exceeded Count)?
Note: If the count has reached the set value, set a longer scan time.
• Is there a problem with the MECHATROLINK cable (e.g., is it broken or disconnected)?

Effect on Application Program

This section describes the effect of the system on the application when the communications cycles
between the master and slave change from asynchronous status to slave CPU synchronized status. The set-
ting to restart slave CPU synchronization is also described. Refer to the following section for countermea-
sures of the system’s effect on the application.
Precautions (page 11-32)

Overview
The slave CPU synchronization function synchronizes the slave cycle with the master cycle. When the sta-
tus is changing from asynchronous status to slave CPU synchronized status, the processing that is per-
formed by the system at the slave may affect the application at the slave as described in the following
table.
System Processing at Slave Effect on Application
• The high-speed scan cycle may temporarily be disturbed.
• Shock may occur for an axis being controlled by the SVA-01.
Adjustment of the start of the high-speed
scan cycle • An axis being control by the SVB-01 or SVC-01 may suddenly stop.
• The counter values for LIO-01, LIO-02, LIO-06, and CNTR-01 may
be disturbed.
• Position information may be lost.
Resetting MECHATROLINK communi- • Zero point return information may be lost.
cations
(SVC, SVC32, SVC-01, and SVB-01) • The software limits may be disabled.
• Controlled axes may stop suddenly.

11-30
 11.6 Slave CPU Synchronization
Operation of the Slave Machine Controller

Setting the Restarting Method for Slave CPU Synchronization

You can set the SLVSC (Slave CPU Synchronization Restart Control) command control bit in the slave
application to specify whether to restart slave CPU synchronization automatically when synchronization is
lost.
ON (SLVSC = 1): When slave CPU synchronization is lost, the system operates asynchronously.
In this case, use the application programming to control the timing of changing back to
slave CPU synchronization.
OFF (SLVSC = 0): When slave CPU synchronization is lost, it is automatically restarted.

Output Registers
7 6 5 4 3 2 1 0
OW+0
(Not used.)

OW+1
Command Status

OW+2 Data 1 Low

High
OW+3 Data 2 Low

Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0

Not used. SLVSC

Bit 15 Bit 14 Bit 13 Bit 12 Bit 11 Bit 10 Bit 9 Bit 8

Not used.

Name Definition Description

If slave CPU synchronization is lost, operation continues asyn-
1 Restarting prohibited.
SLVSC chronously.
0 Restarting allowed. If slave CPU synchronization is lost, it is automatically restarted.

Operation of the Slave Machine Controller

The following table gives the slave Machine Controller operation when the following operations are per-
formed during slave CPU synchronization or when an error occurs.
Item Operation
The power supply to the master is turned OFF.
The MECHATROLINK communications cable is dis- Operation will continue asynchronously.
connected. An input error will occur, but the scan operation is not
The master assignment is deleted. affected.
A watchdog timer timeout occurs at the master.
A transmission error occurs.
Utility Functions

(For example, the communications cycle is disrupted High-speed scan processing may be disrupted.
by a MECHATROLINK communications error.)
The high-speed scan setting is changed at the master or Asynchronous operation will be used.
slave. (This is because MECHATROLINK communications are
The MECHATROLINK definitions are saved at the reset.)
master. Note: If the SLVSC control bit is set to 0, slave CPU syn-
Machine Controller self configuration is performed for chronization will be restarted after MECHA- 11
the master or slave. TROLINK communications are restarted.
The master or slave is switched between CPU RUN
Operation with slave CPU synchronization will continue.
and CPU STOP.

11-31
 11.6 Slave CPU Synchronization
Precautions

Precautions
Observe the following precautions when you use slave CPU synchronization.
• To use slave CPU synchronization, you cannot use a PO-01 or MPU-01 Option Module on the slave. If a
PO-01 or MPU-01 is used, disable slave CPU synchronization.
• If you change the SVC or SVC32 settings from a slave to a master, save the settings to flash memory,
and then turn the power supply OFF and ON again.
• When the status changes between asynchronous to synchronous for the slave CPU synchronization,
there may be a delay of up to one scan cycle (i.e., the scan cycles may be disturbed) for the high-speed
and low-speed scans on the slave. For applications that require regularity or periodicity, do not use the
data while switching to slave CPU synchronized status.
• If the SVA-01 is mounted in a slot on the slave’s Base Unit, operation may be affected when changing to
slave CPU synchronized status, e.g., the axis may be subjected to shock. In this case, stop operation in
advance.
• If the SVB-01 or SVC-01 is mounted in a slot on the slave’s Base Unit, communications with the slave
connected to the SVB-01 or SVC-01 are disconnected and then reconnected when changing to slave
CPU synchronized status. If a servo, inverter, or similar slave device is connected, stop operation in
advance. The disconnection of communications may cause the axes to stop suddenly or subject the
machine to shock.
• If the LIO-01, LIO-02, LIO-06, or CNTR-01 is mounted in a slot on the slave’s Base Unit, the counter
value may be disrupted when changing to slave CPU synchronized status. Do not use the counter value
while this change is being made.
• If the version of the CPU Unit/CPU Module of the master or slave Machine Controller is lower than ver-
sion 1.06, the Machine Controllers will operate asynchronously.

11-32
 11.7 Automatically Updated Parameters
Automatically Updated Parameters When a MECHATROLINK Connection Is Established

11.7 Automatically Updated Parameters

Some of the parameters that are stored in SERVOPACK RAM may be overwritten automatically under
certain conditions or as a result of self configuration. This includes Machine Controller setting parameters,
fixed parameters, and fixed value SERVOPACK parameters. Some of the SERVOPACK parameters are
automatically written to the Machine Controller setting parameters when self configuration is performed.
The parameters that are modified under these conditions are listed in the following tables.
Refer to the following chapter for details on specific Machine Controller parameters.
Chapter 4 Motion Parameters
Refer to the relevant SERVOPACK manuals for details on the SERVOPACK parameters.

Automatically Updated Parameters When a MECHATROLINK

Connection Is Established
Some setting parameters are automatically written to the Servo common parameters of the SERVOPACK
when a connection is established between the Machine Controller and the SERVOPACK, such as after the
power supply is turned ON or when alarms are cleared following a communications interruption.

Automatically Updated Parameters That Are Not Affected by the

Parameter Auto-write Setting
The Machine Controller parameter settings shown in the following table on the left are automatically writ-
ten to the SERVOPACK Servo common parameters shown in the following table on the right when a
MECHATROLINK connection is established.
Machine Controller SERVOPACK
Fixed Values Servo Common Parameters
Name Value No. Description
Speed Unit Selection Reference units/s → 41 Speed Unit
Acceleration Unit Selection Reference units/s2 → 45 Acceleration Unit
Torque Unit Selection Percentage of rated torque → 47 Torque Unit

This write operation occurs regardless of the setting of bit A (SERVOPACK Parameter Auto-Write) in
fixed parameter No. 1.
Note
Utility Functions

11

11-33
 11.7 Automatically Updated Parameters
Automatically Updated Parameters When a MECHATROLINK Connection Is Established

Automatically Updated Parameters When the Auto-write Setting Is

Enabled
When bit A (SERVOPACK Parameter Auto-Write) in fixed parameter No. 1 is set to 0 (Enabled), the
Machine Controller parameter settings shown in the following table on the left are automatically written to
the SERVOPACK Servo common parameters shown in the following table on the right when a MECHA-
TROLINK connection is established.
Machine Controller SERVOPACK
Setting Parameters Servo Common Parameters
Register
Name No. Description
Address
Positioning Completion
OL1E → 66 Positioning Completion Width
Width
Position Loop Gain OW2E → 63 Position Loop Gain
Speed Loop Gain OW2F → 61 Speed Loop Gain
Speed Feedforward Compen-
OW30 → 64 Feedforward Compensation
sation
Position Loop Integral Time
OW32 → 65 Position Loop Integration Time Constant
Constant
Speed Loop Integral Time
OW34 → 62 Speed Loop Integration Time Constant
Constant
Depends on the set value of bits 8 to B
(Filter Type Selection) in the OW03
setting parameter.
When Set to 1 (Exponential acceleration/
deceleration filter)
Filter Time Constant OW3A → 81/82
... 81 (Exponential Function Acceleration/
Deceleration Time Constant)
When Set to 0 (None) or 2
(Moving average filter)
... 82 (Moving Average Time)

11-34
 11.7 Automatically Updated Parameters
Automatically Updated Parameters When a Setting Parameter Is Changed

Automatically Updated Parameters When a Setting Parameter

Is Changed
When bit A (SERVOPACK Parameter Auto-Write) in fixed parameter No. 1 is set to 0 (Enabled), the
Machine Controller setting parameter values shown in the following table on the left are automatically
written to the SERVOPACK Servo common parameters shown in the following table on the right when-
ever any change is made to those setting parameters.
Machine Controller SERVOPACK
Setting Parameters Servo Common Parameters
Register
Name No. Description
Address
Positioning Completion Width OL1E → 66 Positioning Completion Width
Position Loop Gain OW2E → 63 Position Loop Gain
Speed Loop Gain OW2F → 61 Speed Loop Gain
Speed Feedforward Compensation OW30 → 64 Feedforward Compensation
Position Loop Integral Time Constant OW32 → 65 Position Loop Integration Time Constant
Speed Loop Integral Time Constant OW34 → 62 Speed Loop Integration Time Constant
Depends on the set value of bits 8 to B
(Filter Type Selection) in the
OW03 setting parameter.
When Set to 1 (Exponential accelera-
tion/deceleration filter)
Filter Time Constant OW3A → 81/82
... 81 (Exponential Function Accelera-
tion/Deceleration Time Constant)
When Set to 0 (None) or 2
(Moving average filter)
... 82 (Moving Average Time)

When any of the above setting parameters are changed when an alarm has occurred (i.e., when IL04
≠ 0), the following monitor parameters are also changed.
Register Address Name Before Change After Change
IW0B Bit 3 Command Error End 0: Completed normally 1: Completed with an error
IL02 Bit 1* Setting Parameter Error 0: In setting range 1: Outside setting range
* The number of the setting parameter that was changed is reported in the IW01 monitor parameter (Out-of-range
Parameter Number).

Utility Functions

11

11-35
 11.7 Automatically Updated Parameters
Automatically Updated Parameters When a Motion Command Is Executed

Automatically Updated Parameters When a Motion Command

Is Executed
Some setting parameters are automatically written to the SERVOPACK Servo common parameters when
the Machine Controller starts the execution of a motion command.

Automatically Updated Parameters That Are Not Affected by the

Parameter Auto-write Setting
The Machine Controller parameter settings shown in the following table on the left are automatically writ-
ten to the SERVOPACK Servo common parameters shown in the following table on the right when the
Machine Controller begins execution of a motion command.
Machine Controller SERVOPACK
Setting Parameters Servo Common Parameters
Register
Name No. Name Description
Address
Automatically updated when the ZRET
Homing
Approach Speed OL3E → 84 command is executed for DEC1 + phase-C
Approach Speed
pulse or DEC1 + ZERO signal.
Automatically updated when the ZRET
Homing Creep
Creep Speed OL40 → 85 command is executed for DEC1 + phase-C
Speed
pulse or DEC1 + ZERO signal.
Automatically updated when the ZRET
command is executed for DEC1 + phase-C
Zero Point Return Homing Travel pulse, DEC1 + ZERO signal, ZERO signal,
OL42 → 86
Travel Distance Distance phase-C pulse, C pulse only, P-OT + C
pulse, HOME LS + C pulse, or INPUT + C
pulse.
External Position- External Position-
Automatically updated when the EXPOS-
ing Final Travel OL46 → 83 ing Final Travel
ING or EX_FEED command is executed.
Distance Distance

This write operation occurs regardless of the setting of bit A (SERVOPACK Parameter Auto-Write) in
fixed parameter No. 1 on the Machine Controller.
Note

11-36
 11.7 Automatically Updated Parameters
Automatically Updated Parameters When a Motion Command Is Executed

Automatically Updated Parameters When the Auto-write Setting Is

Enabled
When bit A (SERVOPACK Parameter Auto-Write) in fixed parameter No. 1 on the Machine Controller is
set to 0 (Enabled), the Machine Controller parameter settings shown in the following table on the left are
automatically written to the SERVOPACK Servo common parameters shown in the following table on the
right when the Machine Controller begins execution of a motion command.
Machine Controller SERVOPACK
Setting Parameters Servo Common Parameters
Register
Name No. Description
Address
Depends on the set value of bits 8 to B (Fil-
ter Type Selection) in the OW03 set-
ting parameter.
When Set to 1 (Exponential Acceleration/
Deceleration Filter)
Filter Time Constant OW3A → 81/82
... 81 (Exponential Function Accelera-
tion/Deceleration Time Constant)
When Set to 0 (None) or 2 (Moving
Average Filter)
... 82 (Moving Average Time)

Utility Functions

11

11-37
 11.7 Automatically Updated Parameters
Parameters Automatically Updated during Self Configuration

Parameters Automatically Updated during Self Configuration

The fixed values in the Machine Controller are written to the SERVOPACK EEPROM or RAM during
self-configuration as shown below. The SERVOPACK parameters are also written to the Machine Con-
troller’s setting parameters.

SERVOPACK and Machine Controller parameters may be overwritten when self configuration is
performed.
Note

Writing from the Machine Controller to the SERVOPACK

The following settings are written regardless of the setting of bit A (SERVOPACK Parameter Auto-Write)
in fixed parameter No. 1.
Machine Controller SERVOPACK
Fixed Values Servo Common Parameters
Name Set Value No. Description
P-OT Signal Mapping Disable → 25. Bit 0 Limit Setting, P-OT
N-OT Signal Mapping Disable → 25. Bit 1 Limit Setting, N-OT
Positive Servo Software Limit Disable → 25. Bit 4 Limit Setting, P-SOT
Negative Servo Software Limit Disable → 25. Bit 5 Limit Setting, N-SOT
Servo Electronic Gear Ratio Numerator 1 → 21 Electronic Gear Ratio Numerator
Servo Electronic Gear Ratio Denominator 1 → 22 Electronic Gear Ratio Denominator
Fixed Monitor Selection 1 → 87 Fixed Monitor Selection 1
Fixed Monitor Selection 0 → 88 Fixed Monitor Selection 2

Information The above settings are not written for axes that are already defined.

Writing from the SERVOPACK to the Machine Controller

The following settings are written when bit A (SERVOPACK Parameter Auto-Write) in fixed parameter
No. 1 is set to 0 (Enabled).
Machine Controller SERVOPACK
Setting Parameters Servo Common Parameters
Register
Name No. Description
Address
Position Loop Gain OW2E ← 63 Position Loop Gain
Speed Loop Gain OW2F ← 61 Speed Loop Gain
Speed Feedforward Compensation OW30 ← 64 Feedforward Compensation
Position Loop Integral Time Constant OW32 ← 65 Position Loop Integration Time Constant
Speed Loop Integral Time Constant OW34 ← 62 Speed Loop Integration Time Constant
Filter Time Constant OW3A ← 82 Average Moving Time

11-38
 11.8 Precautions When Using Σ-7-series SERVOPACKs
Machine Controllers That Support the Σ-7-series SERVOPACKs

11.8 Precautions When Using Σ-7-series SERVOPACKs

Σ-7-series AC SERVOPACKs with MECHATROLINK-III Communications References (SGD7S-
20 and SGD7W-20) support encoders with 24-bit resolution. However, if you set an
SGD7S-20 or SGD7W-20 to 24-bit resolution and connect it to a Machine Control-
ler, the travel distances and deceleration times that can be specified will be restricted.
This section provides precautions for using the above SERVOPACKs and describes the combinations of
the above SERVOPACKs with Machine Controllers.

For details on the SGD7S-20 and SGD7W-20, refer to the following manuals.
Σ-7-series AC Servo Drive Σ-7S SERVOPACK with MECHATROLINK-III Communications References Product
Manual (manual number: SIEP S800001 28)
Note
Σ-7-series AC Servo Drive Σ-7W SERVOPACK with MECHATROLINK-III Communications References Product
Manual (manual number: SIEP S800001 29)

 Definition of Terms
Term Meaning
Electronic gear ratio The Σ-7 electronic gear ratio (Pn20E:Pn210).
Servo reference unit The reference unit in the servo coordinates.
Controller reference unit The reference unit in the Controller coordinates

 Applicable SERVOPACKs
Model Number Interface
SGD7S-20 SERVOPACKs with MECHATROLINK-III Communi-
SGD7W-20 cations References

The default setting of the electronic gear ratio for the above SERVOPACKs is given in the following table.

Pn20E Pn210
Electronic Gear Ratio (Numerator) Electronic Gear Ratio (Denominator)
16 1

Machine Controllers That Support the Σ-7-series SERVO-

PACKs
The models and versions of the Machine Controllers that support Σ-7-series SERVOPACKs are given in
the following table.

Machine Controller Model Number Version

Utility Functions

MP3200 with CPU-201 JEPMC-CP3201-E Version 1.12 or later

MP3200 with CPU-202 JEPMC-CP3202-E Version 1.12 or later
MP3300 with CPU-301 for 16 axes JAPMC-CP3301-1-E Version 1.10 or later
MP3300 with CPU-301 for 32 axes JAPMC-CP3301-2-E Version 1.12 or later

11

11-39
 11.8 Precautions When Using Σ-7-series SERVOPACKs
Σ-7-series SERVOPACK Electronic Gear Ratio and Machine Controller Settings

Σ-7-series SERVOPACK Electronic Gear Ratio and Machine Controller

Settings
We recommend that you set the electronic gear ratio in the SERVOPACK to 1:1 when you use a Machine
Controller. However, if you use a Σ-7-series SERVOPACK that supports an encoder with 24-bit resolu-
tion, the travel distances and deceleration times that you can specify will be restricted. You can solve this
problem by setting the electronic gear ratio in the Σ-7-series SERVOPACK to 16:1.
Σ-7 Electronic
Operation
Gear Ratio

Machine Controller Σ-7

MECHATROLINK-III

Motor

Reference unit selection = mm

16:1 Pn20E = 16
Travel distance per machine rotation = 10,000 reference units
Pn210 = 1
(equivalent to Motor gear ratio = 1 A 24-bit encoder is used.
20 bits) Machine gear ratio = 1
Number of pulses per motor rotation = 1,048,576

If a movement of 10,000 reference The motor will rotate one rotation for a
units is commanded, 1,048,576 reference of 1,048,576 servo
pulses will be output. reference units.

Machine Controller Σ-7

MECHATROLINK-III

Motor

Reference unit selection = mm

Pn20E = 1
1:1 Travel distance per machine rotation = 10,000 reference units
Pn210 = 1
(24 bits) Motor gear ratio = 1 A 24-bit encoder is used.
Machine gear ratio = 1
Number of pulses per motor rotation = 16,777,216

If a movement of 10,000 reference The motor will rotate one rotation for a
units is commanded, 16,777,216 reference of 16,777,216 servo
pulses will be output. reference units.

If the electronic gear ratio of the Σ-7-series SERVOPACK is set to 16:1, the motor will rotate one rotation
for 1,048,576 servo reference units (equivalent to 20 bits). To do this, set fixed parameter No. 36 (Number
of Pulses per Motor Rotation) to 1,048,576.
If greater resolution is required, set the electronic gear ratio of the Σ-7-series SERVOPACK to 1:1 and set
fixed parameter No. 36 (Number of Pulses per Motor Rotation) to 16,777,216.

Information If you set the electronic gear ratio of a Σ-7-series SERVOPACK to 16:1, you will be able to use an
absolute encoder with an infinite-length setting only with a Machine Controller with a version that
supports the Σ-7-series SERVOPACKs.

11-40
 11.8 Precautions When Using Σ-7-series SERVOPACKs
Link Assignments

Link Assignments
You can manually assign links as shown below according to the model of the Σ-7-series SERVOPACK.
Model Link Assignment
Σ-7S SGD7S-****20*
Σ-7W SGD7W-****20*

An example of the on-screen settings is shown below.

Number of Pulses Per Motor Rotation

Set fixed parameter No. 36 (Number of Pulses per Motor Rotation) according to setting of the electronic
gear ratio as given below.

 Electronic Gear Ratio of 16:1 (Equivalent to 20 Bits)

36: Number of Pulses Per Motor Rotation 1,048,576: 20 bits

 Electronic Gear Ratio of 1:1 (Equivalent to 24 Bits)

36: Number of Pulses Per Motor Rotation 16,777,216: 24 bits

Self Configuration
When you execute self-configuration, the link assignment is set automatically according to the model of
the connected Σ-7-series SERVOPACK.
Utility Functions

However, the electronic gear ratio in the SERVOPACK and fixed parameter No. 36 (Number of Pulses Per
Motor Rotation) are automatically set according to the version of the Machine Controller as given below.
Fixed Parameter 36:
Machine Controller Version Electronic Gear Ratio Number of Pulses Per Motor
Rotation
11
Version 1.10 or 1.11 1:1 (Pn20E = 1, Pn210 = 1) 16,777,216: 24 bits
Version 1.12 or later 16:1 (Pn20E = 16, Pn210 = 1) 1,048,576: 20 bits

11-41
 11.8 Precautions When Using Σ-7-series SERVOPACKs
Operating Specifications When Using a Machine Controller That Supports the Σ-7-series SERVOPACKs

Operating Specifications When Using a Machine Controller That Supports the

Σ-7-series SERVOPACKs
The operating specifications for combining a Machine Controller that supports Σ-7-series SERVOPACKs
with a Σ-7-series SERVOPACK are given in the following sections (1) to (4).
1. Possible Travel Distance for One Command
The range that you can move with one motion command for which a target position is specified (POSING,
EX_POSING, and STEP) is given below.
-2,147,483,648 to 2,147,483,647 Controller reference units

 Operation
Controller coordinates

Target position in
positive direction
2,147,483,647 2,147,483,647
Controller reference units
Current
position
0

-2,147,483,648
Controller reference units
-2,147,483,648
Target position
in negative direction

If the target position is changed while the axis is moving and the travel distance from the
current position exceeds the above range, IL04 bit 7 (Excessive Positioning Moving
Note Amount) will turn ON.

2. Restrictions in Deceleration Time during Positioning

The maximum setting of the deceleration time for positioning motion commands (POSING, EX_POSING,
ZRET, FEED, STEP, and EX_FEED) depends on the setting of the electronic gear ratio as given below.
Maximum Deceleration Time [s]
Reference Speed [min-1] Electronic Gear Ratio of 16:1 Electronic Gear Ratio of 1:1
(Equivalent to 20 Bits) (24 Bits)
6,000 13.65 0.85
3,000 27.30 1.70
1,500 54.61 3.41
750 109.22 6.82

Operation will not be performed with the specified speed or deceleration time if a value that exceeds
the maximum value is set.
Note

11-42
 11.8 Precautions When Using Σ-7-series SERVOPACKs
Operating Specifications When Using a Machine Controller That Supports the Σ-7-series SERVOPACKs

 Operation
Speed Distance required to decelerate to a stop
(servo reference units)

Reference speed
㹙min-1㹛

The deceleration time

will be longer if the
reference speed is
reduced.

Time

Deceleration time [s]

3. Restrictions to OL42 (Zero Point Return Travel Distance) and OL46

(External Positioning Final Travel Distance)
The maximum travel distances that can be used for OL42 (Zero Point Return Travel Distance),
which is used for ZRET (Zero Point Return), and OL46 (External Positioning Final Travel Dis-
tance), which is used for EX_POSING (Latch Target Positioning) and EX_FEED (Jog Mode with External
Positioning), are given in the following table.
Electronic Gear Ratio Negative Direction Positive Direction
16:1 (equivalent to 20 bits) -1,023.99 rotations 1,023.99 rotations
1:1 (24 bits) -63.99 rotations 63.99 rotations
The restrictions on OL42 and OL46 depend on the setting of fixed parameter No. 4 (Refer-
ence Unit Selection) as given below.
Setting of Fixed
0 1 2 3 4
Parameter No. 4
Reference Unit pulse mm deg inch μm
Maximum Value of No. 6 (Travel Distance per Machine Rotation) × No. 9 (Machine Gear Ratio)
OL42 and 2,147,483,647 2,147,483,647 ×
OL46 No. 36 (Number of Pulses per Motor Rotation) × No. 8 (Servo Motor Gear Ratio Term)

If a value that exceeds the above maximum value is set, IL02 bit 1 (Setting Parameter
Error) will turn ON and operation will be performed with OL42 or OL46 set to 0.
Note

4. Restrictions When Writing Fixed Parameters

If you write any fixed parameters after turning ON the power supply, save the settings to flash memory
and then turn the power supply OFF and ON again.
Utility Functions

11

11-43
 11.8 Precautions When Using Σ-7-series SERVOPACKs
Operating Specifications When Using a Machine Controller That Does Not Support the Σ-7-series SERVOPACK

Operating Specifications When Using a Machine Controller That Does Not

Support the Σ-7-series SERVOPACK
You can connect a Machine Controller that does not support Σ-7-series SERVOPACKs to a Σ-7-series
SERVOPACK and still control the SERVOPACK, but the following restrictions will apply.
1. You must set the electronic gear ratio in the Σ-7-series SERVOPACK to 16:1 (Pn20E = 16 and
Pn210 = 1) to use a reference resolution equivalent to a 20-bit encoder.

2. If you manually assign the link, you must assign the link according to the model of the Σ-7-series
SERVOPACK that is connected.

3. Because a reference resolution equivalent to a 20-bit encoder is used, you must set fixed param-
eter No. 36 (Number of Pulses Per Motor Rotation) as follows:
Number of pulses per motor rotation: 1,048,576 (20 bits)

4. If you execute self-configuration, the link assignment is set automatically according to the model
of the connected Σ-7-series SERVOPACK.
However, the electronic gear ratio of the SERVOPACK will be automatically set to 1:1, so you
must reset items 1 and 3, above.

5. If you use an absolute encoder, you cannot use the infinite-length setting. Doing so will cause the
position to be offset when the power supply is turned ON.

6. The range that you can move with one motion command for which a target position is specified
(POSING, EX_POSING, and STEP) is restricted to the following range (Controller reference units
is converted to servo reference units).
-2,147,483,648 to 2,147,483,647 Servo reference units

7. The maximum setting of the deceleration time for positioning motion commands (POSING,
EX_POSING, ZRET, FEED, STEP, and EX_FEED) will be as given in the following table.

Reference Speed [min-1] Maximum Deceleration Time [s]

6,000 4.09
3,000 8.19
1,500 16.38
750 32.76

8. The maximum travel distances that can be used for OL42 (Zero Point Return Travel Dis-
tance), which is used for ZRET (Zero Point Return), and OL46 (External Positioning Final
Travel Distance), which is used for EX_POSING (Latch Target Positioning) and EX_FEED (Jog
Mode with External Positioning), are given in the following table.
Electronic Gear Ratio Negative Direction Positive Direction
16:1 (equivalent to 20 bits) -1,023.99 rotations 1,023.99 rotations

11-44
 12
Appendices

12.1 Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . 12-3

SVC and SVC32 Function Modules . . . . . . . . . . . . . . . . . . . 12-3
SVR and SVR32 Function Modules . . . . . . . . . . . . . . . . . . . 12-5
Applicable Versions for Additional Functions . . . . . . . . . . . . 12-6

12.2 Sample Programs . . . . . . . . . . . . . . . . . . . . . . . 12-7

Performing Positioning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12-7
Performing Positioning with an External Signal . . . . . . . . . . 12-9
Performing a Zero Point Returns . . . . . . . . . . . . . . . . . . . . 12-12

12.3 System Registers . . . . . . . . . . . . . . . . . . . . . . . 12-15

System Service Registers . . . . . . . . . . . . . . . . . . . . . . . . . 12-15
Scan Execution Status and Calendar . . . . . . . . . . . . . . . . . 12-17
System Program Software Numbers
and Remaining Program Memory Capacity . . . . . . . . . . . . 12-17

12.4 MECHATROLINK-III I/O Module Settings . . . . . . . . . 12-18

Link Assignment Tab Page Settings . . . . . . . . . . . . . . . . . . 12-18
I/O Register Configuration . . . . . . . . . . . . . . . . . . . . . . . . . 12-19
I/O Commands . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12-20
I/O Command Details . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12-21
Command Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12-38
Master Status . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12-38
Command Status . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12-39
CPU STOP Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12-42

12.5 Resetting the Absolute Encoder . . . . . . . . . . . 12-43

Using the Machine Controller to Reset
the Absolute Encoder . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12-43
Using the SERVOPACK to Reset the Absolute Encoder . . 12-47
12.6 Multiturn Limit Setting . . . . . . . . . . . . . . . . . . . 12-48
Using the Machine Controller to Set the Multiturn Limit . . . 12-48
Using the SERVOPACK to Set the Multiturn Limit . . . . . . . 12-52

12.7 Setting Fixed Parameters According to Encoder Type and Axis Type . .12-53

12.8 Common Parameters and SERVOPACK Parameters . . 12-55

12.9 Terminology . . . . . . . . . . . . . . . . . . . . . . . . . . . 12-57

 12.1 Specifications
SVC and SVC32 Function Modules

12.1 Specifications
This section lists the specifications of the SVC, SVC32, SVR, and SVR32 Function Modules.

SVC and SVC32 Function Modules

Item Specification
Number of Communications Lines 1
Number of Communications Ports
2
(Connectors)
Terminating Resistor Not necessary
Network Topologies Cascade, star, and point-to-point
Communications Cable CAT5e STP (shielded twisted-pair cable)
Connectors RJ45 or an industrial mini-connector made by TYCO AMP
Communications Method 4B/5B MULT-3
C1 master station: Network management station
Types of Connected Stations C2 master station: Message master station
Slave stations
Control Method Master/Slave
Number of Bytes in the
16, 32, 48, or 64 (can be mixed)
Information Field
Isolation for Communications Path Transformer
Communications Interface MECHATROLINK-III (2:N synchronous)
MECHATROLINK Communications

Baud Rate 100 Mbps

Communications Cycle 125 μs, 250 μs, 500 μs, 1 ms, 1.5 ms, 2 ms, or 3 ms
Number of Link Communications
16, 32, 48, or 64 (depending on the profile)
Bytes
Master Function

SVC32: 42 max. (32 Servo axes max.)

Number of Connected Stations
SVC: 21 max. (16 Servo axes max.)
C1 Messaging
Supported (selectable).
(Master Function)
Retry Function Supported (selectable).
Supported Slave Devices SERVOPACKs, I/O devices, and Machine Controllers
Event-driven Communications Supported.
MECHATROLINK-III-compliant Servos and MECHATROLINK-
Supported Profiles
III-compliant I/O
Communications Interface MECHATROLINK-III (2:N asynchronous)
Baud Rate 100 Mbps
Minimum Communications Cycle 125 μs
Maximum Communications Cycle 32 ms
Communications Cycle Increment
Slave Function

03 hex
(Granularity)
Station Addresses 03 to EF hex
Number of Link Communications
16, 32, 48, or 64
Bytes
Appendices

Messaging (Slave Function) Supported.

Event-driven Communications Supported.
Cyclic Communications Supported.
Supported Profiles Primary: MECHATROLINK-III-standard I/O
Continued on next page. 12

12-3
 12.1 Specifications
SVC and SVC32 Function Modules

Continued from previous page.

Item Specification
Synchronous communications through single send transmissions
Transmission/communications error detection (hardware) provided.
Communication Methods Synchronous communications error detection (software) provided.
No automatic recovery function (recovery occurs when alarms are
cleared).
I/O Registers I/O using motion registers (synchronized with the high-speed scan).
Motion Command Mode and MECHATROLINK Transmission
Command Modes
Reference Mode
Supported Servomotors Standard, linear, and DD servomotors
Position control, speed control, torque control, and phase control
Control Types
can be selected during operation.
Positioning, external positioning, zero point returns, interpolation,
interpolation with latch input, jogging, STEP operation, speed refer-
Motion Commands
ences, torque references, phase control, jogging with external posi-
tioning, etc.
One-step asymmetric trapezoidal acceleration/deceleration, expo-
Acceleration/Deceleration Methods
Servo Control

nential acceleration/deceleration filter, and moving average filter

Position Unit Pulses, millimeters, inches, degrees, or micrometers

Speed Unit Reference units/s, 10n reference units/min, or percentage of rated

speed (0.01% or 0.0001%)

Acceleration Unit Reference units/s2 or milliseconds (acceleration time from 0 to the

rated speed)
Torque Unit Percentage of rated torque (0.01% or 0.0001%)
Electronic Gear Supported.
Finite-length position management, infinite-length position man-
Position Management Methods agement, absolute infinite-length position management, and simple
absolute infinite-length position management
Software Limits One each in positive and negative directions
Zero Point Return Method 13 types
SERVOPACK Parameter SERVOPACK parameters can be managed in the MPE720’s SER-
Management VOPACK Parameter Tab Page.
Simulation Mode Supported.
Maximum Number of SVR32: 32 axes
SVR or Controlled Axes SVR: 16 axes
SVR32
Register Range The registers for two circuits are assigned.
Synchronous communications through single send transmissions
Transmission/communications error detection (hardware) provided.
I/O Control Functions

Communication Methods
Synchronous communications error detection not provided.
Automatic recovery function provided.
I/O using I/O registers, synchronized on the high-speed scan or low-
I/O Registers
speed scan (selectable)
Only I/O MECHATROLINK-III standard profile can be used.
I/O Commands Data I/O, reading parameters, writing parameters, reading alarms/
warnings, and clearing alarms
Self Configuration Module and slave devices can be automatically assigned.
Synchronization is supported when the high-speed scan cycle is an
integral multiple or integral factor of the communications cycle. We
Synchronization between Modules recommend saving the settings to flash memory and then turning the
power supply OFF and ON again whenever these settings are
changed.
Synchronization between Slaves Supported.

12-4
 12.1 Specifications
SVR and SVR32 Function Modules

SVR and SVR32 Function Modules

Item Specification
I/O Registers I/O using motion registers (synchronized with the high-speed scan)
Command Modes Motion command mode
Supported Servomotors Standard and linear Servomotors
Position control, speed control, torque control, and phase control
Control Types
can be selected during operation.
Positioning, external positioning, zero point returns, interpolation,
Motion Commands interpolation with latch input, jogging, STEP operation, speed refer-
ences, torque references, phase control, etc.
Exponential acceleration/deceleration filter (The bias speed can be
Acceleration/Deceleration Methods
set.)
Position Unit Pulses, millimeters, inches, degrees, or micrometers
Servo Control

Speed Unit Reference units/s, 10n reference units/min, or percentage of rated

speed (0.01% or 0.0001%)

Acceleration Unit Reference units/s2 or milliseconds (acceleration time from 0 to the

rated speed)
Torque Unit Percentage of rated torque (0.01% or 0.0001%)
Electronic Gear Supported.
Finite-length position management and infinite-length position
Position Management Methods
management
Cannot be set. The axis immediately returns to the zero point when
Zero Point Return Method
the ZRET command is executed.
SVR32: 32 axes
Maximum Number of Controlled Axes
SVR: 16 axes
Register Range The registers for two circuits are assigned.
Note: The functionality of some motion commands is restricted. (For example, performing a latch operation via an exter-
nal signal is not possible.) Refer to the following chapter for details.
Chapter 6 Motion Commands

Appendices

12

12-5
 12.1 Specifications
Applicable Versions for Additional Functions

Applicable Versions for Additional Functions

The following table lists the firmware and Engineering Tool versions that support the additional functions.
Engineering
Machine Controller
Tool
MPE720
CPU-201 CPU-202 CPU-301 CPU-302
Version 7
Function
JAPMC- JAPMC-
JEPMC- JEPMC- CP3301-1-E CP3302-1-E CPMC-
CP3201-E CP3202-E JAPMC- JAPMC- MPE780D
CP3301-2-E CP3302-2-E
Support for Σ-7-series AC
SERVOPACKs with
Version 1.12 Version 1.12 Version 1.12 Version 1.12 Version 7.28
MECHATROLINK-III Com-
or later or later or later or later or later
munications for Rotational
Motors
Support for MECHA-
TROLINK-III Standard Version 1.12 Version 1.12 Version 1.12 Version 1.12 Version 7.23
Inverter Profile for A1000 or later or later or later or later or later
and V1000
Support for Σ-7-series AC
SERVOPACKs with
Version 1.14 Version 1.14 Version 1.14 Version 1.14 Version 7.30
MECHATROLINK-III Com-
or later or later or later or later or later
munications for Linear
Motors
Support for MECHA-
Version 1.18 Version 1.18 Version 1.18 Version 1.18 Version 7.33
TROLINK-III Standard
or later or later or later or later or later
Stepping Motor Drive Profile

12-6
 12.2 Sample Programs
Performing Positioning

12.2 Sample Programs

This section provides sample programs that use the POSING (Positioning), EX_POSING (External Posi-
tioning), and ZRET (Zero Point Return) motion commands.

Performing Positioning
This section describes a sample program that performs positioning using the POSING command.

Operating Pattern
The following figure shows the operating pattern when the POSING command is executed.
Speed (%)
Rated speed
(100%)
Speed Reference
Setting
(OL10)

Position
Reference
0
Time (t)
Linear Linear
Acceleration Deceleration
Time Constant Time Constant
(OL36) (OL38)

Ladder Program Example

The following is an example of a ladder program that performs positioning with the POSING command.
Refer to the following section for details on this procedure.
POSING (Positioning) (page 6-6)

 Procedure
1. Make sure that all of the following conditions are met.
No. 1: There must be no alarms. (IL02 and IL04 = 0)
No. 2: The power supply to the Servomotor must be ON. (IW00 bit 1 = 1)
No. 3: Motion command execution must be completed. (IW08 = 0 and IW09 bit 0 = 0)

2. Set the following setting parameters.

• OW01 (Speed Loop P/PI Switch)*
• OW03, Bits 8 to B (Filter Type Selection)*
• OL10 (Speed Reference Setting)
• OL14 (Torque/Force Limit)*
• OL36 (Linear Acceleration Rate/Acceleration Time Constant)
• OL38 (Linear Deceleration Rate/Deceleration Time Constant)
* In this example, the default values for OW01, OW03, and OL14 are used. You do not
need to set them.

3. Set the OW08 setting parameter (Motion Commands) to 1 to execute the POSING motion
Appendices

command.

4. Set the OL1C setting parameter (Position Reference Setting).*

* In this example, the travel distance is added to OL1C to achieve correct operation regardless of the
position reference type.
12
5. Set OW08 to 0 to execute the NOP motion command.

12-7
 12.2 Sample Programs
Performing Positioning

 Ladder Program

Step 1, No. 1

Step 1, No. 2

Step 1, No. 3

Step 2

Step 3

Step 4

Step 5

Precautions
The external switch (SW12) is read by an Input
Module and assigned to bit register IB0424F.
Positioning starts when SW12 turns ON. If SW12
turns OFF before positioning is completed, the
positioning operation is canceled.

12-8
 12.2 Sample Programs
Performing Positioning with an External Signal

Performing Positioning with an External Signal

This section describes a sample program that performs positioning with an external signal using the EX_-
POSING command.

Application Example
For rods, electrical wires, sheet materials, and other cases where something is measured and cut, the sen-
sor first detects a workpiece, the workpiece is then moved the specified length from the detected position,
stopped, and cut. This type of operation requires positioning with an external signal.

Sheet material
Sensor
Travel distance L
Motor
When this sensor detects the
workpiece, the workpiece is moved for
the travel distance L and stopped at
that position. The workpiece is then cut.

Connecting the External Positioning Signal

The external positioning signal is connected directly to the SERVOPACK.
The following example is for axis 1.
SERVOPACK
(SGDV)
Workpiece
CN1-6
24 V
EXT1

SI4 CN1-10 External positioning

These contacts close the latch input
circuit when the workpiece
activates the sensor.

Assign the input as shown here in the SERVOPACK parameter

settings.
For example, set Pn511.1 (Input Signal Selection 5) to 4 for
a Σ-V SERVOPACK.
This setting specifies using the CN1-10 terminal for the latch
input, and this signal is used to perform the external positioning.

Operating Pattern
The following figure shows the operating pattern when the EX_POSING command is executed.
Speed (%)
Rated speed
(100%)
Speed Reference
Setting
(OL10) External Positioning
Appendices

Final Travel Distance

0
Time (t)
Linear Acceleration Linear Deceleration
Time Constant Time Constant
(OL36) (OL38) 12
Latch signal (external positioning signal)

12-9
 12.2 Sample Programs
Performing Positioning with an External Signal

Ladder Program Example

The following is an example of a ladder program that performs external positioning with the EX_POSING
command.
Refer to the following section for details on this procedure.
EX_POSING (External Positioning) (page 6-13)

 Procedure
1. Make sure that all of the following conditions are met.
No. 1: There must be no alarms. (IL02 and IL04 = 0)
No. 2: The power supply to the Servomotor must be ON. (IW00 bit 1 = 1)
No. 3: Motion command execution must be completed. (IW08 = 0 and IW09 bit 0 = 0)

2. Set the following setting parameters.

• OW01 (Speed Loop P/PI Switch)*
• OW03, Bits 8 to B (Filter Type Selection)*
• OL04, Bits 4 to 7 (External Positioning Signal Setting)
• OL10 (Speed Reference Setting)
• OL14 (Torque/Force Limit)*
• OL46 (External Positioning Final Travel Distance)
• OL36 (Linear Acceleration Rate/Acceleration Time Constant)
• OL38 (Linear Deceleration Rate/Deceleration Time Constant)
* In this example, the default values for OW01, OW03, and OL14 are used. You do not
need to set them.

3. Set the OW08 setting parameter (Motion Commands) to 2 to execute the EX_POSING
motion command.
When the external positioning signal turns ON during positioning, the axis is moved by the external posi-
tioning final travel distance from the current position.

4. Set the OL1C setting parameter (Position Reference Setting) in the same scan as the set-
ting parameters in step 2.*
* In this example, the travel distance is added to OL1C to achieve correct operation regardless of the
position reference type.

5. Set OW08 to 0 to execute the NOP motion command.

12-10
 12.2 Sample Programs
Performing Positioning with an External Signal

 Ladder Program

Step 1, No. 1

Step 1, No. 2

Step 1, No. 3

Step 2

Step 3

Step 4

Precautions
The external switch (SW12) is read by an Input
Module and assigned to bit register IB0424F. External
positioning starts when SW12 turns ON. If SW12 turns
OFF before external positioning is completed, the
external positioning operation is canceled.
Appendices

12

12-11
 12.2 Sample Programs
Performing a Zero Point Returns

Performing a Zero Point Returns

This section describes a sample program that performs a zero point return using the ZRET command with
the DEC1 + C pulse (OW3C = 0).

Connecting the Zero Point Return Deceleration Switch

The zero point return deceleration switch is connected directly to the SERVOPACK.
The following example is for axis 1.
SERVOPACK
(SGDV)
Workpiece
CN1-6
24 V
DEC

SI3 CN1-9 Zero point return

These contacts close the deceleration switch
circuit when the workpiece
activates the sensor.

Assign the input as shown here in the SERVOPACK

parameter settings.
For example, set Pn511.0 (Input Signal Selection 5) to 3
for a Σ-V SERVOPACK.
This setting is specified using the CN1-9 terminal for the
zero point return deceleration switch, and this signal is
used to perform the zero point return.

Operating Pattern
The following figure shows the operating pattern when the ZRET command is executed and the DEC1 + C
pulse (OW3C = 0) are used.
Zero Point Return
Travel Distance
Zero point (OL42) Start

Creep Speed
(OL40) Approach Speed
(OL3E)

Speed Reference Setting

(OL10)
DEC1 signal*1

Phase-C pulse
P-OT*2

N-OT*3

*1. SERVOPACK DEC1 signal.

*2. SERVOPACK P-OT signal.
*3. SERVOPACK N-OT signal.

12-12
 12.2 Sample Programs
Performing a Zero Point Returns

Ladder Program Example

The following is an example of a ladder program to execute the ZRET command.
Refer to the following section for details on this procedure.
ZRET (Zero Point Return) (page 6-21)

 Procedure
1. Make sure that all of the following conditions are met.
No. 1: There must be no alarms. (IL02 and IL04 = 0)
No. 2: The power supply to the Servomotor must be ON. (IW00 bit 1 = 1)
No. 3: Motion command execution must be completed. (IW08 = 0 and IW09 bit 0 = 0)

2. Set the OW3C setting parameter (Zero Point Return Method) to the required zero point
return method (0).

3. Set the parameters that are required for the zero point return operation.
• Bit 3 in OW09 (Zero Point Return Direction Selection)*
• OL10 (Speed Reference Setting)
• OW18 (Override)*
• OL3E (Approach Speed)
• OL40 (Creep Speed)
• OL42 (Zero Point Return Travel Distance)
* In this example, the default values for OW09 bit 3 and OW18 are used. You do not need to set
them.

4. Set the OW08 setting parameter (Motion Commands) to 3 to execute the ZRET motion
command.

5. Set OW08 to 0 to execute the NOP motion command.

Appendices

12

12-13
 12.2 Sample Programs
Performing a Zero Point Returns

 Ladder Program

Step 1, No. 1

Step 1, No. 2

Step 1, No. 3

Step 2

Step 3

Step 4

Step 5

Precautions
The external switch (SW12) is read by an Input Module
and assigned to bit register IB0424F. The zero point
return operation starts when SW12 turns ON. If SW12
turns OFF before the zero point return operation is
completed, the zero point return operation is canceled.

12-14
 12.3 System Registers
System Service Registers

12.3 System Registers

This section provides tables of the system registers.

System Service Registers

This section provides tables of the system service registers.

Shared by All Drawings

Name Register Address Description
Reserved for system. SB000000 Not used.
This register is ON for only the first scan after the
First High-speed Scan SB000001
high-speed scan starts.
This register is ON for only the first scan after the
First Low-speed Scan SB000003
low-speed scan starts.
Always ON SB000004 Always ON (= 1).
Reserved for system. SB000005 to SB00000F Not used.

DWG.H Only
Operation of the following relays starts when the high-speed scan starts.
Register
Name Description
Address
1 scan
1-scan Flicker Relay SB000010
1 scan

0.5 s 0.5 s
0.5-s Flicker Relay SB000011

1.0 s 1.0 s
1.0-s Flicker Relay SB000012

2.0 s 2.0 s
2.0-s Flicker Relay SB000013

0.5 s 0.5 s

0.5-s Sampling Relay SB000014

1 scan

1.0 s 1.0 s
1.0-s Sampling Relay SB000015
1 scan
Appendices

2.0 s 2.0 s

2.0-s Sampling Relay SB000016

1 scan

Continued on next page. 12

12-15
 12.3 System Registers
System Service Registers

Continued from previous page.

Register
Name Description
Address
60.0 s 60.0 s

60.0-s Sampling Relay SB000017

1 scan

1.0 s
1.0-s After Start of Scan Relay SB000018

2.0 s
2.0-s After Start of Scan Relay SB000019

5.0 s
5.0-s After Start of Scan Relay SB00001A

DWG.L Only
Operation of the following relays starts when the low-speed scan starts.
Register
Name Description
Address
1 scan
1-scan Flicker Relay SB000030
1 scan

0.5 s 0.5 s
0.5-s Flicker Relay SB000031

1.0 s 1.0 s
1.0-s Flicker Relay SB000032

2.0 s 2.0 s
2.0-s Flicker Relay SB000033

0.5 s 0.5 s

0.5-s Sampling Relay SB000034

1 scan

1.0 s 1.0 s

1.0-s Sampling Relay SB000035

1 scan

2.0 s 2.0 s

2.0-s Sampling Relay SB000036

1 scan

60.0 s 60.0 s

60.0-s Sampling Relay SB000037

1 scan

1.0 s
1.0-s After Start of Scan Relay SB000038

Continued on next page.

12-16
 12.3 System Registers
Scan Execution Status and Calendar

Continued from previous page.

Register
Name Description
Address
2.0 s
2.0-s After Start of Scan Relay SB000039

5.0 s
5.0-s After Start of Scan Relay SB00003A

Scan Execution Status and Calendar

The following table lists the scan execution status and calendar registers.
Register
Name Description
Address
High-speed Scan Set Value SW00004 This is the high-speed scan set value (0.1 ms).
High-speed Scan Current Value SW00005 This is the current value of the high-speed scan (0.1 ms).
High-speed Scan Maximum
SW00006 This is the maximum value of the high-speed scan (0.1 ms).
Value
SW00007
Reserved for system. to Not used.
SW00009
Low-speed Scan Set Value SW00010 This is the low-speed scan set value (0.1 ms).
Low-speed Scan Current Value SW00011 This is the current value of the low-speed scan (0.1 ms).
Low-speed Scan Maximum Value SW00012 This is the maximum value of the low-speed scan (0.1 ms).
Reserved for system. SW00013 Not used.
This is the current value of the scan that is currently being
Executing Scan Current Value SW00014
executed (0.1 ms).
Calendar: Year SW00015 1999: 0099 (BCD) (last two digits only)
Calendar: Month Day SW00016 December 31: 1231 (BCD)
Calendar: Hours Minutes SW00017 23 hours 59 minutes: 2359 (BCD)
Calendar: Seconds SW00018 59 s: 59 (BCD)
Calendar: Day of Week SW00019 0 to 6: Sun. to Sat.

System Program Software Numbers and Remaining Program

Memory Capacity
The following table lists the registers that give the system program software numbers and remaining pro-
gram memory capacity.
Register
Name Description
Address
System Program Software Number SW00020 S ( is replaced with the BCD value.)
Appendices

SW00021
System Number Not used.
to SW00025
Remaining Program Memory Capacity SL00026 Bytes
Total Memory Capacity SL00028 Bytes

12

12-17
 12.4 MECHATROLINK-III I/O Module Settings
Link Assignment Tab Page Settings

12.4 MECHATROLINK-III I/O Module Settings

This section describes the settings for MECHATROLINK-III I/O Modules.

You must use IOWin to set the parameters of the I/O Modules with MECHATROLINK-III Communi-
cations (JEPMC-MTA2900-E, JEPMC-MTA2910-E, JEPMC-MTP2900-E, and
JEPMC-MTP2910-E).
Note
Refer to the following manual for details.
MECHATROLINK-III Compatible I/O Module User’s Manual (Manual No.: SIEP C880781 04)

Link Assignment Tab Page Settings

When connecting a MECHATROLINK-III I/O Module, set up the slave device on the Link Assignment
Tab Page as given in the following table and save those settings.
√: Can be set.
SIZE
VENDOR DEVICE PROFILE BYTE SCAN
INPUT OUTPUT
JAPMC-MC2320-E 16, 32, 48, 64 8, 16, 24, 32 8, 16, 24, 32 √
SVC or SVC32 16, 32, 48, 64 8, 16, 24, 8 8, 16, 24, 8 √
JEPMC-MTD2310-E 16 8 8 √
Yaskawa Electric Standard
JEPMC-MTA2900-E 32 16 16 √
co. I/O
JEPMC-MTA2910-E 16 8 8 √
JEPMC-MTP2900-E 64 32 32 √
JEPMC-MTP2910-E 64 32 32 √

12-18
 12.4 MECHATROLINK-III I/O Module Settings
I/O Register Configuration

I/O Register Configuration

The following figure shows the I/O register configuration when a MECHATROLINK-III I/O Module is
connected.
Output Registers Input Registers
7 6 5 4 3 2 1 0 7 6 5 4 3 2 1 0
I/O Command
OW I/O Command IW
Response
Not used. Master Status
OW + 1 IW + 1
Command Control Command Status

OW + 2 Output Data 1 Low IW + 2 Input Data 1 Low

High High
OW + 3 Output Data 2 Low IW + 3 Input Data 2 Low
High High
OW + 4 Output Data 3 Low IW + 4 Input Data 3 Low
High High
OW + 5 Output Data 4 Low IW + 5 Input Data 4 Low
High High
OW + 6 Output Data 5 Low IW + 6 Input Data 5 Low
High High
OW + 7 Output Data 6 Low IW + 7 Input Data 6 Low
High High
• •
• •
• •

Set the I/O Command, Command Control, and Output Data output registers during the same scan.
Important

Appendices

12

12-19
 12.4 MECHATROLINK-III I/O Module Settings
I/O Commands

I/O Commands
The following table lists the I/O commands. Refer to the pages given in the Reference Column for details
on individual commands.
Code Name Description Reference
Data I/O Command
0 Data I/O Performs data I/O operations with the I/O Module.
(page 12-21)
Read Alarms/Warn-
1 Read Alarms/Warnings Reads the alarm/warning information from the I/O Module. ings Command
(page 12-22)
Clear Alarms/
2 Clear Alarms/Warnings Clears an alarm or warning from the I/O Module. Warnings Com-
mand (page 12-24)
Read Parameter
3 Read Parameter Reads an I/O Module parameter. Command (page
12-25)
Write Parameter
4 Write Parameter Changes an I/O Module parameter. Command (page
12-26)
Read Non-volatile
Read Non-volatile
5 Reads an I/O Module parameter from non-volatile memory. Parameter Com-
Parameter mand (page 12-28)
Write Non-volatile
Write Non-volatile
6 Changes an I/O Module parameter in non-volatile memory. Parameter Com-
Parameter mand (page 12-30)
Read Memory Com-
7 Read Memory Reads data in the internal memory of the I/O Module.
mand (page 12-32)
Write Memory
8 Write Memory Changes data in the internal memory of the I/O Module. Command (page
12-34)
9 to 14 Reserved. Do not set these codes. −
Re-establishes communications with the I/O Module. Com- Reset Communica-
15 Reset Communications munications are disconnected, and a new connection is tions Command
established. (page 12-36)
Resets the communications for the entire network.
Execute this command to ensure that proper cyclic commu-
Reset Network
nications are performed if entering an active network fails.
16 Reset Network Command (page
This affects communications with all slave stations on the 12-37)
network. Stop all commands from the application before
you reset the network.

12-20
 12.4 MECHATROLINK-III I/O Module Settings
I/O Command Details

I/O Command Details

This section describes how to use the I/O commands.

Data I/O Command

Performs data I/O operations with the I/O Module.

 Command Format
Output Registers Input Registers
7 6 5 4 3 2 1 0 7 6 5 4 3 2 1 0
OW Data I/O (= 0) IW Data I/O (= 0)
Not used. Master Status
OW + 1 IW + 1
Command Control Command Status

OW + 2 Output Data 1 Low IW + 2 Input Data 1 Low

High High
OW + 3 Output Data 2 Low IW + 3 Input Data 2 Low
High High
OW + 4 Output Data 3 Low IW + 4 Input Data 3 Low
High High
OW + 5 Output Data 4 Low IW + 5 Input Data 4 Low
High High
OW + 6 Output Data 5 Low IW + 6 Input Data 5 Low
High High
OW + 7 Output Data 6 Low IW + 7 Input Data 6 Low
High High
• •
• •
• •

 Execution and Operating Procedure

1. Make sure that the following condition is met.
No. Execution Condition Confirmation Method
1 I/O command execution must be completed. Command Status bit 2 (CMDRDY) = 1

2. Set the I/O Command register to 0 to execute the Data I/O command.

 Confirming Completion of the Command

Use the following information to confirm that the command has been completed.
No. Confirmation Method
1 I/O Command Response register = 0 (Data I/O)
Appendices

2 Command Status bit 2 (CMDRDY) = 1

Information • If the command is not completed within 5 seconds after it is executed, bit 0 in the Master Status
register changes to 1 (TIMEOUT).
• When bit 0 (D_ALM) or bit 1 (D_WAR) in the Command Status register is 1, check the error
details with the application and perform the stop processing. The system will not perform stop
processing.
12

12-21
 12.4 MECHATROLINK-III I/O Module Settings
I/O Command Details

Read Alarms/Warnings Command

Reads the alarm/warning information from the I/O Module.

 Command Format
Output Registers Input Registers
7 6 5 4 3 2 1 0 7 6 5 4 3 2 1 0
OW Read Alarms/Warnings (= 1) IW Read Alarms/Warnings (= 1)
Not used. Master Status
OW + 1 IW + 1
Command Control Command Status

OW + 2 IW + 2
ALM_RD_MOD ALM_RD_MOD

OW + 3 IW + 3
ALM_INDEX ALM_INDEX

OW + 4 IW + 4 ALM_DATA1 Low

High
OW+ 5 IW + 5 ALM_DATA2 Low
High
OW + 6 IW + 6 ALM_DATA3 Low
High
OW + 7 IW + 7 ALM_DATA4 Low
High
• •
• •
• •

 ALM_RD_MOD: Read Mode

0: Reads the current alarms or warnings
Reads up to 12 alarms or warnings (one word per alarm/warning, read to ALM_DATA).
If there are less than 12 current alarms or warnings, the remaining portion of ALM_DATA is filled
with zeroes.
1: Reads alarm/warning history
Reads up to 12 alarms or warnings (one word per alarm/warning, read to ALM_DATA).
If there are less than 12 current alarms or warnings, the remaining portion of ALM_DATA is filled
with zeroes.
2: Reads details on a current alarm or warning
3: Reads details on an alarm/warning history item
All other bits: Reserved for system.

12-22
 12.4 MECHATROLINK-III I/O Module Settings
I/O Command Details

 ALM_INDEX: Alarm Index

0 to 11: Specifies the order of occurrence.
Specify 0 to read the latest alarm information.
All other bits: Reserved for system.

Information This register is valid only when ALM_RD_MOD is 2 or 3.

 ALM_DATA: Alarm/Warning Code

This gives the code of the alarm or warning.

Information This is a vendor-specific register when ALM_RD_MOD is 2 or 3.

If an ALM_INDEX is specified for which no alarm or warning has occurred, the contents of
ALM_DATA will be all 0.

 Execution and Operating Procedure

1. Make sure that the following condition is met.
No. Execution Condition Confirmation Method
1 I/O command execution must be completed. Command Status bit 2 (CMDRDY) = 1

2. Set the I/O Command register to 1 to execute the Read Alarms/Warnings command.

 Confirming Completion of the Command

Use the following information to confirm that the command has been completed.
No. Confirmation Method
1 I/O Command Response register = 1 (Read Alarms/Warnings)
2 Command Status bit 2 (CMDRDY) = 1
3 ALM_RD_MOD is the same in the command and response.
4 ALM_INDEX is the same in the command and response.

Information • If the command is not completed within 5 seconds after it is executed, bit 0 in the Master Status
register changes to 1 (TIMEOUT).
• When bit 0 (D_ALM) or bit 1 (D_WAR) in the Command Status register is 1, check the error
details with the application and perform the stop processing. The system will not perform stop
processing.

Appendices

12

12-23
 12.4 MECHATROLINK-III I/O Module Settings
I/O Command Details

Clear Alarms/Warnings Command

Clears an alarm or warning from the I/O Module.

 Command Format
Output Registers Input Registers
7 6 5 4 3 2 1 0 7 6 5 4 3 2 1 0
OW Clear Alarms/Warnings (= 2) IW Clear Alarms/Warnings (= 2)
Not used. Master Status
OW + 1 IW + 1
Command Control Command Status

OW + 2 IW + 2
ALM_CLR_MOD ALM_CLR_MOD

OW + 3 IW + 3

OW + 4 IW + 4

OW + 5 IW + 5

OW + 6 IW + 6

OW + 7 IW + 7

• •
• •
• •

 ALM_CLR_MOD: Clear Alarm Mode

0: Clears the current alarm or warning.
1: Clears the alarm history.
All other bits: Reserved for system.

 Execution and Operating Procedure

1. Make sure that the following condition is met.
No. Execution Condition Confirmation Method
1 I/O command execution must be completed. Command Status bit 2 (CMDRDY) = 1

2. Set the I/O Command register to 2 to execute the Clear Alarms/Warnings command.

12-24
 12.4 MECHATROLINK-III I/O Module Settings
I/O Command Details

 Confirming Completion of the Command

Use the following information to confirm that the command has been completed.
No. Confirmation Method
1 I/O Command Response register = 2 (Clear Alarms/Warnings)
2 Command Status bit 2 (CMDRDY) = 1
3 ALM_CLR_MOD is the same in the command and response.

1. If the command is not completed within 5 seconds after it is executed, bit 0 in the Master Status reg-
ister changes to 1 (TIMEOUT).
2. When bit 0 (D_ALM) or bit 1 (D_WAR) in the Command Status register is 1, check the error details
Note
with the application and perform the stop processing. The system will not perform stop processing.

Read Parameter Command

Reads an I/O Module parameter.

Some I/O Module devices do not support the Read Parameter command. Refer to the product specifi-
cations of the I/O Module for details.
Note

 Command Format
Output Registers Input Registers
7 6 5 4 3 2 1 0 7 6 5 4 3 2 1 0
OW Read Parameter (= 3) IW Read Parameter (= 3)
Not used. Master Status
OW + 1 IW + 1
Command Control Command Status

OW + 2 IW + 2
NO NO

OW + 3 SIZE IW + 3 SIZE

Not used. Not used.
OW + 4 IW + 4 PARAMETER Low
High
OW + 5 IW + 5

OW + 6 IW + 6

OW + 7 IW + 7

• •
• •
• •
Appendices

 NO: Parameter Number

 SIZE: Parameter Size (Bytes)

12
 PARAMETER: Parameter Data

12-25
 12.4 MECHATROLINK-III I/O Module Settings
I/O Command Details

 Execution and Operating Procedure

1. Make sure that the following condition is met.
No. Execution Condition Confirmation Method
1 I/O command execution must be completed. Command Status bit 2 (CMDRDY) = 1

2. Set the following parameters.

• NO (Parameter Number)
• SIZE (Parameter Size)
Setting Precautions
Make any necessary changes to NO (Parameter Number) or SIZE (Parameter Size) before executing the
Read Parameter command or during the same scan that the I/O Command register is set to 3. Do not change
these settings during execution of the Read Parameter command.

3. Set the I/O Command register to 3 to execute the Read Parameter command.

 Confirming Completion of the Command

Use the following information to confirm that the command has been completed.
No. Confirmation Method
1 I/O Command Response register = 3 (Read Parameter)
2 Command Status bit 2 (CMDRDY) = 1
3 NO must be the same in the command and response.
4 SIZE must be the same in the command and response.

1. If the command is not completed within 5 seconds after it is executed, bit 0 in the Master Status reg-
ister changes to 1 (TIMEOUT).
2. When bit 0 (D_ALM) or bit 1 (D_WAR) in the Command Status register is 1, check the error details
Note
with the application and perform the stop processing. The system will not perform stop processing.

Write Parameter Command

Changes an I/O Module parameter.

Some I/O Module devices do not support the Write Parameter command. Refer to the product
specifications of the I/O Module for details.
Note

12-26
 12.4 MECHATROLINK-III I/O Module Settings
I/O Command Details

 Command Format
Output Registers Input Registers
7 6 5 4 3 2 1 0 7 6 5 4 3 2 1 0
OW Write Parameter (= 4) IW Write Parameter (= 4)
Not used. Master Status
OW + 1 IW + 1
Command Control Command Status

OW + 2 IW + 2
NO NO

OW + 3 SIZE IW + 3 SIZE

Not used. Not used.
OW + 4 PARAMETER Low IW + 4 PARAMETER Low
High High
OW + 5 IW + 5

OW + 6 IW + 6

OW + 7 IW + 7

• •
• •
• •

 NO: Parameter Number

 SIZE: Parameter Size (Bytes)

 PARAMETER: Parameter Data

 Execution and Operating Procedure

1. Make sure that the following condition is met.
No. Execution Condition Confirmation Method
1 I/O command execution must be completed. Command Status bit 2 (CMDRDY) = 1

2. Set the following parameters.

• NO (Parameter Number)
• SIZE (Parameter Size)
• PARAMETER (Parameter Data)
Setting Precautions
Make any necessary changes to NO (Parameter Number), SIZE (Parameter Size), or PARAMETER
(Parameter Data) before executing the Write Parameter command or during the same scan that the I/O
Command register is set to 4. Do not change these settings during execution of the Write Parameter com-
mand.

3. Set the I/O Command register to 4 to execute the Write Parameter command.
Appendices

12

12-27
 12.4 MECHATROLINK-III I/O Module Settings
I/O Command Details

 Confirming Completion of the Command

Use the following information to confirm that the command has been completed.
No. Confirmation Method
1 I/O Command Response register = 4 (Write Parameter)
2 Command Status bit 2 (CMDRDY) = 1
3 NO must be the same in the command and response.
4 SIZE must be the same in the command and response.
5 PARAMETER must be the same in the command and response.

1. If the command is not completed within 5 seconds after it is executed, bit 0 in the Master Status reg-
ister changes to 1 (TIMEOUT).
2. When bit 0 (D_ALM) or bit 1 (D_WAR) in the Command Status register is 1, check the error details
Note
with the application and perform the stop processing. The system will not perform stop processing.

Read Non-volatile Parameter Command

Reads an I/O Module parameter from non-volatile memory.

Some I/O Module devices do not support the Read Non-volatile Parameter command. Refer to the
product specifications of the I/O Module for details.
Note

 Command Format
Output Registers Input Registers
7 6 5 4 3 2 1 0 7 6 5 4 3 2 1 0
Read Non-volatile Read Non-volatile
OW IW
Parameter (= 5) Parameter (= 5)
Not used. Master Status
OW + 1 IW + 1
Command Control Command Status

OW + 2 IW + 2
NO NO

OW + 3 SIZE IW + 3 SIZE

Not used. Not used.
OW + 4 IW + 4 PARAMETER Low
High
OW + 5 IW + 5

OW + 6 IW + 6

OW + 7 IW + 7

• •
• •
• •

12-28
 12.4 MECHATROLINK-III I/O Module Settings
I/O Command Details

 NO: Parameter Number

 SIZE: Parameter Size (Bytes)

 PARAMETER: Parameter Data

 Execution and Operating Procedure

1. Make sure that the following condition is met.
No. Execution Condition Confirmation Method
1 I/O command execution must be completed. Command Status bit 2 (CMDRDY) = 1

2. Set the following parameters.

• NO (Parameter Number)
• SIZE (Parameter Size)
Setting Precautions
Make any necessary changes to NO (Parameter Number) or SIZE (Parameter Size) before executing the
Read Non-volatile Parameter command or during the same scan that the I/O Command register is set to 5.
Do not change these settings during execution of the Read Non-volatile Parameter command.

3. Set the I/O Command register to 5 to execute the Read Non-volatile Parameter command.

 Confirming Completion of the Command

Use the following information to confirm that the command has been completed.
No. Confirmation Method
1 I/O Command Response register = 5 (Read Non-volatile Parameter)
2 Command Status bit 2 (CMDRDY) = 1
3 NO must be the same in the command and response.
4 SIZE must be the same in the command and response.

1. If the command is not completed within 5 seconds after it is executed, bit 0 in the Master Status reg-
ister changes to 1 (TIMEOUT).
2. When bit 0 (D_ALM) or bit 1 (D_WAR) in the Command Status register is 1, check the error details
Note
with the application and perform the stop processing. The system will not perform stop processing.

Appendices

12

12-29
 12.4 MECHATROLINK-III I/O Module Settings
I/O Command Details

Write Non-volatile Parameter Command

Changes an I/O Module parameter in non-volatile memory.

Some I/O Module devices do not support the Write Non-volatile Parameter command. Refer to the
product specifications of the I/O Module for details.
Note

 Command Format
Output Registers Input Registers
7 6 5 4 3 2 1 0 7 6 5 4 3 2 1 0
Write Non-volatile Write Non-volatile
OW IW
Parameter (= 6) Parameter (= 6)
Not used. Master Status
OW + 1 IW + 1
Command Control Command Status

OW + 2 IW + 2
NO NO

OW + 3 SIZE IW + 3 SIZE

Not used. Not used.
OW + 4 PARAMETER Low IW + 4 PARAMETER Low
High High
OW + 5 IW + 5

OW + 6 IW + 6

OW + 7 IW + 7

• •
• •
• •

 NO: Parameter Number

 SIZE: Parameter Size (Bytes)

 PARAMETER: Parameter Data

12-30
 12.4 MECHATROLINK-III I/O Module Settings
I/O Command Details

 Execution and Operating Procedure

1. Make sure that the following condition is met.
No. Execution Condition Confirmation Method
1 I/O command execution must be completed. Command Status bit 2 (CMDRDY) = 1

2. Set the following parameters.

• NO (Parameter Number)
• SIZE (Parameter Size)
• PARAMETER (Parameter Data)
Setting Precautions
Make any necessary changes to NO (Parameter Number), SIZE (Parameter Size), or PARAMETER
(Parameter Data) before executing the Write Non-volatile Parameter command or during the same scan that
the I/O Command register is set to 6. Do not change these settings during execution of the Write Non-vola-
tile Parameter command.

3. Set the I/O Command register to 6 to execute the Write Non-volatile Parameter command.

 Confirming Completion of the Command

Use the following information to confirm that the command has been completed.
No. Confirmation Method
1 I/O Command Response register = 6 (Write Non-volatile Parameter)
2 Command Status bit 2 (CMDRDY) = 1
3 NO must be the same in the command and response.
4 SIZE must be the same in the command and response.
5 PARAMETER must be the same in the command and response.

Information • If the command is not completed within 5 seconds after it is executed, bit 0 in the Master Status
register changes to 1 (TIMEOUT).
• When bit 0 (D_ALM) or bit 1 (D_WAR) in the Command Status register is 1, check the error
details with the application and perform the stop processing. The system will not perform stop
processing.

Appendices

12

12-31
 12.4 MECHATROLINK-III I/O Module Settings
I/O Command Details

Read Memory Command

Reads data in the internal memory of the I/O Module.

Some I/O Module devices do not support the Read Memory command. Refer to the product specifica-
tions of the I/O Module for details.
Note

 Command Format
Output Registers Input Registers
7 6 5 4 3 2 1 0 7 6 5 4 3 2 1 0
OW Read Memory (= 7) IW Read Memory (= 7)
Not used. Master Status
OW + 1 IW + 1
Command Control Command Status

OW + 2 Not used. IW + 2 Not used.

MODE/DATA_TYPE MODE/DATA_TYPE
OW + 3 IW + 3
SIZE SIZE

OW + 4 ADDRESS Low IW + 4 ADDRESS Low

High High
OW + 5 ADDRESS Low IW + 5 ADDRESS Low
High High
OW + 6 IW + 6 DATA Low
High
OW + 7 IW + 7 DATA Low
High
• •
• •
• •

 MODE/DATA_TYPE: Mode/Data Type

Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
MODE DATA_TYPE

• MODE: Read Mode

0: Reserved for system.
1: Volatile memory
Reads data from volatile memory such as the SRAM.
2: Non-volatile memory
Reads data from non-volatile memory such as the EEPROM.
All other bits: Reserved for system.
• DATA_TYPE: Data Type
0: Reserved for system.
1: Byte data
2: Short data
3: Long data
4: Longlong data
All other bits: Reserved for system.

12-32
 12.4 MECHATROLINK-III I/O Module Settings
I/O Command Details

 SIZE: Read Data Size

 ADDRESS: Starting Read Address
 DATA: Data

 Execution and Operating Procedure

1. Make sure that the following condition is met.
No. Execution Condition Confirmation Method
1 I/O command execution must be completed. Command Status bit 2 (CMDRDY) = 1

2. Set the following parameters.

• MODE/DATA_TYPE (Mode/Data Type)
• SIZE (Read Data Size)
• ADDRESS (Starting Read Address)
Setting Precautions
Make any necessary changes to MODE/DATA_TYPE (Mode/Data Type), SIZE (Read Data Size), or
ADDRESS (Read Starting Address) before executing the Read Memory command or during the same scan
that the I/O Command register is set to 7. Do not change these settings during execution of the Read Mem-
ory command.

3. Set the I/O Command register to 7 to execute the Read Memory command.

 Confirming Completion of the Command

Use the following information to confirm that the command has been completed.
No. Confirmation Method
1 I/O Command Response register = 7 (Read Memory)
2 Command Status bit 2 (CMDRDY) = 1
3 MODE/DATA_TYPE must be the same in the command and response.
4 SIZE must be the same in the command and response.
5 ADDRESS is the same in the command and response.

1. If the command is not completed within 5 seconds after it is executed, bit 0 in the Master Status reg-
ister changes to 1 (TIMEOUT).
2. When bit 0 (D_ALM) or bit 1 (D_WAR) in the Command Status register is 1, check the error details
Note
with the application and perform the stop processing. The system will not perform stop processing.

Appendices

12

12-33
 12.4 MECHATROLINK-III I/O Module Settings
I/O Command Details

Write Memory Command

Changes data in the internal memory of the I/O Module.

Some I/O Module devices do not support the Write Memory command. Refer to the product specifica-
tions of the I/O Module for details.
Note

 Command Format
Output Registers Input Registers
7 6 5 4 3 2 1 0 7 6 5 4 3 2 1 0
OW Write Memory (= 8) IW Write Memory (= 8)
Not used. Master Status
OW + 1 IW + 1
Command Control Command Status

OW + 2 Not used. IW + 2 Not used.

MODE/DATA_TYPE MODE/DATA_TYPE
OW + 3 IW + 3
SIZE SIZE

OW + 4 ADDRESS Low IW + 4 ADDRESS Low

High High
OW+ 5 ADDRESS Low IW + 5 ADDRESS Low
High High
OW + 6 DATA Low IW + 6 DATA Low
High High
OW + 7 DATA Low IW + 7 DATA Low
High High
• •
• •
• •

 MODE/DATA_TYPE: Mode/Data Type

Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
MODE DATA_TYPE

• MODE: Write Mode

0: Reserved for system.
1: Volatile memory
Writes data from volatile memory such as the SRAM.
2: Non-volatile memory
Writes data from non-volatile memory such as the EEPROM.
All other bits: Reserved for system.
• DATA_TYPE: Data Type
0: Reserved for system.
1: Byte data
2: Short data
3: Long data
4: Longlong data
All other bits: Reserved for system.

12-34
 12.4 MECHATROLINK-III I/O Module Settings
I/O Command Details

 SIZE: Write Data Size

 ADDRESS: Starting Write Address

 DATA: Data

 Execution and Operating Procedure

1. Make sure that the following condition is met.
No. Execution Condition Confirmation Method
1 I/O command execution must be completed. Command Status bit 2 (CMDRDY) = 1

2. Set the following parameters.

• MODE/DATA_TYPE (Mode/Data Type)
• SIZE (Write Data Size)
• ADDRESS (Starting Write Address)
• DATA (Data)
Setting Precautions
Make any necessary changes to MODE/DATA_TYPE (Mode/Data Type), SIZE (Write Data Size),
ADDRESS (Write Starting Address), or DATA (data) before executing the Write Memory command or
during the same scan that the I/O Command register is set to 8. Do not change these settings during execu-
tion of the Write Memory command.

3. Set the I/O Command register to 8 to execute the Write Memory command.

 Confirming Completion of the Command

Use the following information to confirm that the command has been completed.
No. Confirmation Method
1 I/O Command Response register = 8 (Write Parameter)
2 Command Status bit 2 (CMDRDY) = 1
3 NO must be the same in the command and response.
4 SIZE must be the same in the command and response.
5 PARAMETER must be the same in the command and response.
6 DATA must be the same in the command and response.

1. If the command is not completed within 5 seconds after it is executed, bit 0 in the Master Status reg-
ister changes to 1 (TIMEOUT).
2. When bit 0 (D_ALM) or bit 1 (D_WAR) in the Command Status register is 1, check the error details
Note
with the application and perform the stop processing. The system will not perform stop processing.
Appendices

12

12-35
 12.4 MECHATROLINK-III I/O Module Settings
I/O Command Details

Reset Communications Command

Re-establishes communications with the I/O Module. Communications are disconnected, and a new con-
nection is established.

 Command Format
Output Registers Input Registers
7 6 5 4 3 2 1 0 7 6 5 4 3 2 1 0
Reset Communications Reset Communications
OW IW
(= 15) (= 15)
Not used. Master Status
OW + 1 IW + 1
Command Control Command Status

OW + 2 IW + 2

OW + 3 IW + 3

OW + 4 IW + 4

OW + 5 IW + 5

OW + 6 IW + 6

OW + 7 IW + 7

• •
• •
• •

 Execution and Operating Procedure

Set the I/O Command register to 15 to execute the Reset Communications command.

 Confirming Completion of the Command

Use the following information to confirm that the command has been completed.
No. Confirmation Method
1 I/O Command Response register = 15 (Reset Communications)
2 Command Status bit 2 (CMDRDY) = 1

1. If the command is not completed within 5 seconds after it is executed, bit 0 in the Master Status reg-
ister changes to 1 (TIMEOUT).
2. When bit 0 (D_ALM) or bit 1 (D_WAR) in the Command Status register is 1, check the error details
Note
with the application and perform the stop processing. The system will not perform stop processing.

12-36
 12.4 MECHATROLINK-III I/O Module Settings
I/O Command Details

Reset Network Command

Resets the communications for the entire network. Execute this command to ensure that proper cyclic
communications are performed if entering an active network fails. This affects communications with all
slave stations on the network. Stop all commands from the application before you reset the network.

 Command Format
Output Registers Input Registers
7 6 5 4 3 2 1 0 7 6 5 4 3 2 1 0
OW Reset Network (= 16) IW Reset Network (= 16)
Not used. Master Status
OW + 1 IW + 1
Command Control Command Status

OW + 2 IW + 2

OW + 3 IW + 3

OW + 4 IW + 4

OW + 5 IW + 5

OW + 6 IW + 6

OW + 7 IW + 7

• •
• •
• •

 Execution and Operating Procedure

1. Confirm that all application commands are stopped.
2. Set the I/O Command register to 16 to execute the Reset Network command.

 Confirming Completion of the Command

Use the following information to confirm that the command has been completed.
No. Confirmation Method
1 I/O Command Response register = 16 (Reset Network)
2 Command Status bit 2 (CMDRDY) = 1

1. If the command is not completed within 5 seconds after it is executed, bit 0 in the Master Status reg-
ister changes to 1 (TIMEOUT).
2. When bit 0 (D_ALM) or bit 1 (D_WAR) in the Command Status register is 1, check the error details
Note
with the application and perform the stop processing. The system will not perform stop processing.
Appendices

12

12-37
 12.4 MECHATROLINK-III I/O Module Settings
Command Control

Command Control
This section describes the details of the Command Control register.
Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
Reserve ALM_CLR Reserve

Bit 15 Bit 14 Bit 13 Bit 12 Bit 11 Bit 10 Bit 9 Bit 8

Reserve

 ALM_CLR: Clear Communications Alarm/Warning

• Definition
1: Clear alarms/warnings.
0: Disable clearing alarms/warnings.
• Description
The current alarms/warnings are cleared on the rising edge of this bit.
The same processing is performed for as the Clear Alarms/Warnings I/O command.

Master Status
This section describes the details of the Master Status register.
Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
CYCLIC_
STATUS Reserve TIMEOUT
INIT_ERR

 TIMEOUT
• Definition
1: Command timeout detected.
0: Any state other than the above
• Description
This bit shows when execution of an I/O command is not completed within a specific period of time (5
s).
Clear the alarm to restore operation.

 CYCLIC_INIT_ERR
• Definition
1: Cyclic communications initialization incomplete state detected.
0: Any state other than the above
• Description
This bit shows when the I/O Module fails to initialize cyclic communications.
Clear the alarm to restore operation.

12-38
 12.4 MECHATROLINK-III I/O Module Settings
Command Status

 STATUS
• Definition
Value Meaning
0 hex Phase 0: The power supply is ON.
1 hex Phase 1: Status is initialized.
2 hex Phase 2: Communications are not synchronized.
3 hex Phase 3: Communications are synchronized.
4 hex Phase 4: Communications are stopped.
5 hex Phase 5: The power supply is OFF.

• Description
These bits show the internal state of the I/O communications driver.

Command Status
This section describes the details of the Command Status register.
Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
ALM_CL-
SYNC SYNCRDY SBUSY Reserved CMDRDY D_WAR D_ALM
R_CMP

Bit 15 Bit 14 Bit 13 Bit 12 Bit 11 Bit 10 Bit 9 Bit 8

COMM_ALM CMD_ALM

 D_ALM
• Definition
1: Device alarm
0: Any state other than the above
• Description
This bit shows when there is a device alarm in the I/O Module.
D_ALM changes to 1 when any device-specific alarm other than COMM_ALM or CMD_ALM occurs.
When the Clear Alarms/Warnings command is executed or bit 3 (ALM_CLR) in the Command Control
register is set to 1, the I/O Module is restored to normal operation and D_ALM changes back to 0.

 D_WAR
• Definition
1: Device warning
0: Any state other than the above
• Description
This bit shows when there is a device warning in the I/O Module.
D_WAR changes to 1 when any device-specific warning other than COMM_ALM or CMD_ALM
occurs.
When the Clear Alarms/Warnings command is executed or bit 3 (ALM_CLR) in the Command Control
register is set to 1, the I/O Module is restored to normal operation and D_WAR changes back to 0.
Appendices

12

12-39
 12.4 MECHATROLINK-III I/O Module Settings
Command Status

 CMDRDY
• Definition
1: Commands can be received.
0: Any state other than the above
• Description
This bit shows when the I/O Module can receive I/O commands.
The I/O Module continues processing the current I/O command as long as the CMDRDY status is 0.
During this time, no new I/O commands can be executed. However, the Reset Communications and
Reset Network I/O commands are executed immediately, regardless of the value of CMDRDY.
The amount of time that CMDRDY remains 0 depends on the product specifications of the I/O Module.
If the specified time is exceeded, bit 0 (TIMEOUT) in the Master Status register changes to 1.
CMDRDY is 1 whenever a new I/O command can be executed, even if there is a current alarm or warn-
ing.

 ALM_CLR_CMP
• Definition
1: ALM_CLR completed.
0: Any state other than the above
• Description
A value of 1 in ALM_CLR_CMP shows that the clear alarm process started via bit 3 (ALM_CLR) in the
Command Control register has been completed.
To clear the status of ALM_CLR_CMP, set bit 3 (ALM_CLR) in the Command Control register to 0.

 SBUSY
• Definition
1: Transient state
0: Steady state
• Description
The status of SBUSY will be 1 while changing from an asynchronous status to slave CPU synchronized
status.
SBUSY changes to 0 when slave CPU synchronized status is reached.

 SYNCRDY
• Definition
1: Slave CPU synchronization preparations completed.
0: Slave CPU synchronization preparations not completed.
• Description
SYNCRDY changes to 1 when the execution conditions for slave CPU synchronization are met.
SYNCRDY will be 0 if the execution conditions for slave CPU synchronization are not met or if the
SLVSC command control bit in the slave is ON (SLVSC = 1).

 SYNC
• Definition
1: Slave is synchronized.
0: Slave is asynchronized.
• Description
SYNC changes to 1 when slave CPU synchronized status is reached. At that time, SBUSY will change
to 0.

12-40
 12.4 MECHATROLINK-III I/O Module Settings
Command Status

 CMD_ALM
• Definition
These bits show the command error status.
• Description
These bits show the I/O command error status. This status is independent from COMM_ALM, D_ALM,
and D_WAR.
CMD_ALM automatically changes to 0 (normal) when a defined command is received after a command
error has occurred.
Communications are not affected even if a command error occurs.
The alarm/warning classification of CMD_ALM depends on the product specifications of the I/O Mod-
ule.
Code Meaning Description
− 0 No alarm −
1 Outside data range
2 −
3 −
Warnings

Indicates that a warning has occurred. Operation

4 − continues under the specified value or it is
5 − clamped to the maximum/minimum value.
6 −
7 −
8 Unsupported command received.
9 Outside data range
A Command execution condition error
Alarms

B Subcommand combination error Indicates that an alarm has occurred. The I/O
C Phase error command is not executed.
D −
E −
F −

Appendices

12

12-41
 12.4 MECHATROLINK-III I/O Module Settings
CPU STOP Operation

 COMM_ALM
• Definition
These bits show the communications error status.
• Description
These bits show the MECHATROLINK communications error status. This status is independent from
CMD_ALM, D_ALM, and D_WAR.
COMM_ALM is cleared when bit 3 (ALM_CLR) in the Command Control register changes to 1, or
when the Clear Alarms/Warnings command is executed.
Code Meaning Description
− 0 No alarm −
1 FCS error
2 Reference data not received.
3 Synchronous frame not received.
Warnings

These warnings occur when even one error is

4 −
detected.
5 −
6 −
7 −
8 FCS error
9 Reference data not received.
A Synchronous frame not received. These alarms occur when an error is detected the
Alarms

B Synchronization interval error specified number of times in a row.

C WDT error When this occurs, communications are no longer
D − synchronized.
E −
F −

CPU STOP Operation

When a CPU STOP occurs, all output data is cleared to zeroes and input data is not updated.

12-42
 12.5 Resetting the Absolute Encoder
Using the Machine Controller to Reset the Absolute Encoder

12.5 Resetting the Absolute Encoder

This section describes how to reset the absolute encoder from the Machine Controller or SERVOPACK.

 Common Execution Conditions

Confirm that all of the following conditions are satisfied.
• The Servomotor is OFF (Servo OFF) (bit 1 in IW00 is 0).
• An absolute encoder is used.
• The Pn002.2 SERVOPACK parameter (Absolute Encoder Usage in Application Function Select Switch
2) is set to 0 (Use absolute encoder as an absolute encoder).

Using the Machine Controller to Reset the Absolute Encoder

Use the following procedure with a Σ-V SGDV-21 SERVOPACK to reset the absolute encoder
from the Machine Controller.

 Procedure
1. Writing the Absolute Encoder Reset Request
Use the following parameter settings to write to memory.
Register Address Name Set Value Setting Details
OW51 SERVOPACK Parameter Size 1 Number of words
Absolute encoder reset
OL52 SERVOPACK Parameter Set Value 1008 hex
request code
Virtual memory address in
OL58 Address Setting 80004000 hex
the SERVOPACK

2. Preparing for Execution

Use the following parameter settings to write to memory.
Register Address Name Set Value Setting Details
OW51 SERVOPACK Parameter Size 1 Number of words
The code required for the
OL52 SERVOPACK Parameter Set Value 2
preliminary processing
Virtual memory address in
OL58 Address Setting 80004002 hex
the SERVOPACK

3. Resetting the Absolute Encoder

Use the following parameter settings to write to memory.
Register Address Name Set Value Setting Details
OW51 SERVOPACK Parameter Size 1 Number of words
The code required to send
OL52 SERVOPACK Parameter Set Value 1 the data and perform the
calibration operation
Virtual memory address in
OL58 Address Setting 80004002 hex
Appendices

the SERVOPACK

12

12-43
 12.5 Resetting the Absolute Encoder
Using the Machine Controller to Reset the Absolute Encoder

4. Completing Absolute Encoder Initialization

Use the following parameter settings to write to memory.
Register Address Name Set Value Setting Details
OW51 SERVOPACK Parameter Size 1 Number of words
The code required to send
OL52 SERVOPACK Parameter Set Value 0 the data and complete the
calibration operation
Virtual memory address in
OL58 Address Setting 80004000 hex
the SERVOPACK

5. Turning the Power Supply to the SERVOPACK OFF and ON Again

This concludes the procedure to reset the absolute encoder.

 Handling Errors
If writing to memory ends in an error during steps 1 to 3, perform step 4.

12-44
 12.5 Resetting the Absolute Encoder
Using the Machine Controller to Reset the Absolute Encoder

 Sample Ladder Program

The following example ladder program resets the absolute encoder. Axis 1 of circuit number 1 is used
here. Change the motion parameter register address if the circuit and/or axis numbers are different.

When MB000000 turns ON, the process

to reset the absolute encoder starts.

Appendices

12

12-45
 12.5 Resetting the Absolute Encoder
Using the Machine Controller to Reset the Absolute Encoder

Software timer default value*

* The value set in DW00006 is determined as given in the following table.

Condition Setting
High-speed scan setting ≥ MECHATROLINK-III
1
communications cycle setting
High-speed scan setting < MECHATROLINK-III (MECHATROLINK-III communications cycle setting/High-
communications cycle setting speed scan setting − 1) × 4 + 1
Example: When High-speed Scan Setting = 1 ms and MECHATROLINK-III Communications Cycle Setting = 250 μs
Software timer default value = 1
When High-speed Scan Setting = 0.5 ms and MECHATROLINK-III Communications Cycle Setting = 1 ms
Software timer default value = (1 ms/0.5 ms − 1) × 4 + 1 = 5

12-46
 12.5 Resetting the Absolute Encoder
Using the SERVOPACK to Reset the Absolute Encoder

Using the SERVOPACK to Reset the Absolute Encoder

Use the following procedure to reset the absolute encoder with a Digital Operator from a Σ-V SERVO-
PACK.

When the absolute encoder is reset, the number of turns is reset to 0, which changes the mechanical
reference position. If the machine is operated in this state, unintended operation could occur resulting
in injuries or damage to the machine. Be careful when starting the machine to ensure that this does not
Important
occur.
Refer to the following manual for details.
Σ-V Series User’s Manual, Design and Maintenance, Rotational Motor/MECHATROLINK-III Communications
Reference (Manual No.: SIEP S8000000 64)

1. Press the MODE/SET Key to display the Utility Func-

tion Mode main menu. Use the ∧ (UP) or ∨ (DOWN) ＢＢ －ＦＵＮＣＴＩＯＮ－
keys to select Fn008. Ｆｎ００７
Ｆｎ００８
Ｆｎ００９
Ｆｎ００Ａ

2. Press the DATA Key.

The display will change to the execution display for Fn008 ＢＢ
(absolute encoder setup (initialize) and encoder alarm reset).
If the display does not change and NO-OP is displayed in the Ｍｕｌｔｉｔｕｒｎ Ｃｌｅａｒ
status area, a password has been set prohibiting write opera-
tions with Fn010. Check the status and clear the Write Pro- ＰＧＣＬ１
hibited setting.

3. Keep pressing the ∧ (UP) key until PGCL1 changes to

PGCL5. ＢＢ

Ｍｕｌｔｉｔｕｒｎ Ｃｌｅａｒ

ＰＧＣＬ５

4. Press the DATA Key.

Ｄｏｎｅ
BB in the status display will change to “Done.”
Ｍｕｌｔｉｔｕｒｎ Ｃｌｅａｒ

ＰＧＣＬ５

5. Press the MODE/SET Key. The display returns to the

Utility Function Mode main menu.

This concludes the operation for setting up the absolute encoder. Turn the power supply OFF and ON
again to reset the SERVOPACK.
Appendices

12

12-47
 12.6 Multiturn Limit Setting
Using the Machine Controller to Set the Multiturn Limit

12.6 Multiturn Limit Setting

This section describes how to set the multiturn limit from the Machine Controller or SERVOPACK.

 Common Execution Conditions

Confirm that all of the following conditions are satisfied.
• The Servomotor is OFF (Servo OFF) (bit 1 in IW00 is 0).
• An absolute encoder is used.
• The Pn002.2 SERVOPACK parameter (Absolute Encoder Usage in Application Function Select Switch
2) is set to 0 (Use absolute encoder as an absolute encoder).
• A multiturn limit disagreement alarm (A.CC0) has occurred on the SERVOPACK. *
* A multiturn limit disagreement alarm (A.CC0) is displayed when the multiturn limit set value is changed with parame-
ter Pn205, because the value will differ from the value that is set for the encoder.

Using the Machine Controller to Set the Multiturn Limit

Use the following procedure with a Σ-V SGDV-21 SERVOPACK to set the multiturn limit
from the Machine Controller.

 Procedure
Use the following procedure to set the multiturn limit.
1. Writing the Multiturn Limit Setting Request
Use the following parameter settings to write to memory.
Register Address Name Set Value Setting Details
OW51 SERVOPACK Parameter Size 1 Number of words
The multiturn limit setting
OL52 SERVOPACK Parameter Set Value 1013 hex
request code
Virtual memory address in
OL58 Address Setting 80004000 hex
the SERVOPACK

2. Preparing for Execution

Use the following parameter settings to write to memory.
Register Address Name Set Value Setting Details
OW51 SERVOPACK Parameter Size 1 Number of words
The code required for the
OL52 SERVOPACK Parameter Set Value 2
preliminary processing
Virtual memory address in
OL58 Address Setting 80004002 hex
the SERVOPACK

3. Setting the Multiturn Limit

Use the following parameter settings to write to memory.
Register Address Name Set Value Setting Details
OW51 SERVOPACK Parameter Size 1 Number of words
The code required to send
OL52 SERVOPACK Parameter Set Value 1 the data and perform the
calibration operation
Virtual memory address in
OL58 Address Setting 80004002 hex
the SERVOPACK

12-48
 12.6 Multiturn Limit Setting
Using the Machine Controller to Set the Multiturn Limit

4. Completing the Setting of the Multiturn Limit

Use the following parameter settings to write to memory.
Register Address Name Set Value Setting Details
OW51 SERVOPACK Parameter Size 1 Number of words
The code required to send
OL52 SERVOPACK Parameter Set Value 0 the data and complete the
calibration operation
Virtual memory address in
OL58 Address Setting 80004000 hex
the SERVOPACK

5. Turning the Power Supply to the SERVOPACK OFF and ON Again

This concludes the process for setting the multiturn limit.

 Handling Errors
If writing to memory ends in an error during steps 1 to 3, perform step 4.

Appendices

12

12-49
 12.6 Multiturn Limit Setting
Using the Machine Controller to Set the Multiturn Limit

 Sample Ladder Program

The following example ladder program sets the multiturn limit. Axis 1 of circuit number 1 is used here.
Change the motion parameter register address if the circuit and/or axis numbers are different.

When MB000000 turns ON, the process to

set the multiturn limit starts.

12-50
 12.6 Multiturn Limit Setting
Using the Machine Controller to Set the Multiturn Limit

Software timer default value*

* The value set in DW00006 is determined as given in the following table.

Condition Setting
High-speed scan setting ≥ MECHATROLINK-III
1
communications cycle setting
High-speed scan setting < MECHATROLINK-III (MECHATROLINK-III communications cycle setting/High-
communications cycle setting speed scan setting − 1) × 4 + 1
Example: When High-speed Scan Setting = 1 ms and MECHATROLINK-III Communications Cycle Setting = 250 μs
Software timer default value = 1
When High-speed Scan Setting = 0.5 ms and MECHATROLINK-III Communications Cycle Setting = 1 ms
Software timer default value = (1 ms/0.5 ms − 1) × 4 + 1 = 5
Appendices

12

12-51
 12.6 Multiturn Limit Setting
Using the SERVOPACK to Set the Multiturn Limit

Using the SERVOPACK to Set the Multiturn Limit

Use the following procedure to set the multiturn limit with a Digital Operator from a Σ-V SERVOPACK.

1. Press the MODE/SET Key to display the Utility Func- −FUNCTION−

A .C C0
tion Mode main menu. Use the ∧ (UP) or ∨ (DOWN) F n0 12: Soft Ver
keys to select Fn013. F n0 13: MturnLmSet
F n0 14: Opt Init
F n0 1B: Viblvl Init

2. Press the DATA Key.

This displays the execution display for Fn013 (multiturn
limit setting when a multiturn limit disagreement alarm A. C C 0
(A.CC0) has occurred). Multiturn Limit
Set
If the display does not change and NO-OP is displayed in the Start :[DATA]
status area, a password has been set prohibiting write opera- Return:[SET]

tions with Fn010. Check the status and clear the Write Pro-
hibited setting.

3. Press the DATA Key.

The multiturn limit will be set.
When the process is completed, DONE will flash on the sta-
A.CC0
tus display for approximately one second. After the setting is Multiturn Limit
completed, turn the power supply OFF and ON again to Set
Start :[DATA]
update the multiturn limit value. Return:[SET]
Note: If you press the MODE/SET Key without press-
ing the DATA Key, the multiturn limit value will
not be updated.

4. Press the MODE/SET Key. The display returns to the

Utility Function Mode main menu.

This concludes the process for setting the multiturn limit. Turn the power supply OFF and ON again to
reset the SERVOPACK.

12-52
 12.7 Setting Fixed Parameters According to Encoder Type and Axis Type

12.7 Setting Fixed Parameters According to Encoder Type and Axis Type
The method for setting or changing the coordinate system zero point depends on the encoder type, motor
type, and axis type (infinite-length axis or finite-length axis). Use the following flowchart to correctly set
the parameter for your application.

Fixed Parameter
START Encoder Type Motor Type
Set Value

Absolute NO Infinite-length NO Incremental No. 1: Bit 0 = 0

encoder? axis? Any
encoder (finite-length)

YES YES

Incremental No. 1: Bit 0 = 1

Any
encoder (infinite-length)

Infinite-length NO DD motor? NO Absolute No. 1: Bit 0 = 0

Normal motor
axis? encoder (finite-length)

YES YES

No. 1: Bit 0 = 1
(infinite-length) + No.
Absolute Direct drive 1: Bit 9 = 1 (Enable
encoder motor Simple Absolute
YES
DD motor? Infinite Axis Position
Management)
NO

No. 1: Bit 0 = 1
(infinite-length) + No.
Absolute 1: Bit 9 = 1 (Enable
Simple absolute YES Normal motor
encoder Simple Absolute
management OK? Infinite Axis Position
Management)
NO

No. 1: Bit 0 = 1
(infinite-length) + No.
Absolute 1: Bit 9 = 0 (Disable
Normal motor
encoder Simple Absolute
Infinite Axis Position
Appendices

Management)

12

12-53
 12.7 Setting Fixed Parameters According to Encoder Type and Axis Type

Method for Changing the

Setting Method for the Coordi- Precautions When Turning the Power
Specification Method Coordinate System Zero
nate System Zero Point Supply OFF and ON Again
Point

Both absolute value specifica-

The coordinate system zero
tions and relative value specifi-
point is set by the zero point A zero point return must be performed
cations (incremental addition
return operation and the Zero after the power supply is turned ON. If a
method) can be used. Which
Point Position Offset zero point return is not performed after
method is used depends on the
(OL48). How the zero the power supply is turned ON, the posi-
setting of bit 5 in OW1C.
point is determined during the tion when the power supply is turned
zero point return operation ON becomes the zero point. In this case, Setting range: -231 to 231 - 1
depends on the operating pat- software limits are not enabled until the
tern. (Refer to the relevant SER- Set Zero Point command is executed. Relative value specifications
VOPACK manual for details.) (incremental addition method)
are used.

The zero point is set according to

the OL48 setting parame-
Both absolute value specifica-
ter (Zero Point Position Offset in No particular processing is necessary
tion and relative value specifica-
Machine Coordinate System) of because the encoder stores the position If OL48 is changed,
tion (incremental addition
the Machine Controller and the information even when the power supply the coordinate system zero
method) can be used. Which
zero point position of the to the Machine Controller is turned OFF. point is also changed
method is used depends on the
encoder (incremental pulses). However, the Set Zero Point command because the zero point off-
setting of bit 5 in OW1C.
The zero point position of the must be executed to use software limits. set value for OL48 is
Setting range: -231 to 231 - 1
encoder is set by resetting the always calculated automati-
encoder. cally.
The zero point is set according to To set the current position
The encoder stores the position informa-
the OL48 setting parame- as the zero point, calculate
tion for within one revolution (initial incre-
ter (Zero Point Position Offset in OL48 - IL10
mental pulse) even when the power supply
Machine Coordinate System) of and set that value for
to the Machine Controller is turned OFF, Relative value specifications
the Machine Controller and the OL48.
but does not store the number of rotations (incremental addition method)
zero point position of the
(multiturn data). are used.
encoder (incremental pulses).
The Set Zero Point command must be
The zero point position of the
executed after the power supply is
encoder is set by resetting the
turned ON.
encoder.
The zero point is set according to
the OL48 setting parame- No particular processing is necessary
ter (Zero Point Position Offset in because the encoder stores the position
Machine Coordinate System) of information even when the power supply
Relative value specifications
the Machine Controller and the to the Machine Controller is turned OFF.
(incremental addition method)
zero point position of the However, the Set Zero Point command
are used.
encoder (incremental pulses). must be executed after the power supply
The zero point position of the is turned ON. (An alarm occurs if this
encoder is set by resetting the operation is not performed.)
encoder.
When the power supply is turned ON, a
request must be made to set up the coor- The coordinate system is
The coordinate system zero dinate system (set bit 7 in OW00 reset when the ZSET (Set
point is set based on the zero to 1 (ON)). The current coordinate sys- Zero Point) command is
tem must also be backed up during nor- Relative value specifications
point position of the encoder executed.
mal operation. Both of these operations (incremental addition method)
(incremental pulse) and the exe- Set the coordinate value
are performed in a ladder program. Refer are used.
cution of the Set Zero Point you want in OL48,
command. to the following section for details. then execute the Set Zero
Creating Ladder Programming for Point command.
Infinite Axis Position Management
(page 8-24)

12-54
 12.8 Common Parameters and SERVOPACK Parameters

12.8 Common Parameters and SERVOPACK Parameters

Common Common Parameter
Name
Parameter No. No. for SERVOPACK
01 PnA02 Encoder Type (read only)
02 PnA04 Motor Type (read only)
03 PnA06 Semi-closed/Fully-closed (read only)
04 PnA08 Rated Speed (read only)
05 PnA0A Maximum Output Speed (read only)
06 PnA0C Speed Multiplier (read only)
07 PnA0E Rated Torque (read only)
08 PnA10 Maximum Output Torque (read only)
09 PnA12 Torque Multiplier (read only)
0A PnA14 Resolution (read only)
0B PnA16 Linear Scale Pitch
0C PnA18 Pulses per Scale Pitch (read only)
21 PnA42 Electronic Gear Ratio (Numerator)
22 PnA44 Electronic Gear Ratio (Denominator)
23 PnA46 Absolute Encoder Origin Offset
24 PnA48 Multiturn Limit
25 PnA4A Limit Setting
26 PnA4C Forward Software Limit
27 PnA4E Reserved parameter (Do not change.)
28 PnA50 Reverse Software Limit
29 PnA52 Reserved parameter (Do not change.)
41 PnA82 Speed Unit
Speed Base Unit
42 PnA84 (Set the value of n from the following formula: Speed unit selection
(41 PnA82) × 10n)
43 PnA86 Position Unit
Position Base Unit
44 PnA88 (Set the value of n from the following formula: Position unit selec-
tion (43 PnA86) × 10n)
45 PnA8A Acceleration Unit
Acceleration Base Unit
46 PnA8C (Set the value of n from the following formula: Acceleration unit
selection (45 PnA8A) × 10n)
47 PnA8E Torque Unit
Torque Base Unit
48 PnA90 (Set the value of n from the following formula: Torque unit selection
(47 PnA8E) × 10n)
49 PnA92 Supported Unit (read only)
61 PnAC2 Speed Loop Gain
62 PnAC4 Speed Loop Integral Time Constant
63 PnAC6 Position Loop Gain
Appendices

64 PnAC8 Feedforward Compensation

65 PnACA Position Loop Integral Time Constant
66 PnACC In-position Range
67 PnACE Near-position Range
81 PnB02 Exponential Function Acceleration/Deceleration Time Constant 12
Continued on next page.

12-55
 12.8 Common Parameters and SERVOPACK Parameters

Continued from previous page.

Common Common Parameter
Name
Parameter No. No. for SERVOPACK
82 PnB04 Movement Average Time
83 PnB06 Final Travel for External Input Positioning
84 PnB08 Zero Point Return Approach Speed
85 PnB0A Zero Point Return Creep Speed
86 PnB0C Final Travel for Zero Point Return
87 PnB0E Monitor Selection 1
88 PnB10 Monitor Selection 2
89 PnB12 Monitor Select for SEL_MON1
8A PnB14 Monitor Select for SEL_MON2
8B PnB16 Zero Point Detection Range
8C PnB18 Forward Torque Limit
8D PnB1A Reverse Torque Limit
8E PnB1C Zero Speed Detection Range
8F PnB1E Speed Match Signal Detection Range
90 PnB20 SVCMD_ CTRL bit Enabled/Disabled (read only)
91 PnB22 SVCMD_ STAT bit Enabled/Disabled (read only)
92 PnB24 I/O Bit Enabled/Disabled (Output) (read only)
93 PnB26 I/O Bit Enabled/Disabled (Input) (read only)

12-56
 12.9 Terminology

12.9 Terminology
 Phase-C pulse
The encoders on Yaskawa Servomotors output three types of pulses: phase A, phase B, and phase C. A
phase-C pulse is a signal that reverses once every motor rotation. It is also called the zero point pulse.
Some manufactures may also call this type of signal phase Z or the reference.

 POSMAX
This is the infinite-length axis reset position.
Refer to the following section for details.
Fixed Parameter Details (page 4-30)

 Encoder Position
The encoder position is the absolute encoder position information (Multi-turn data × Number of encoder
pulses + Initial incremental pulses).

 Override
For the Machine Controller, this term is used to mean changing the set value to use a new one.

 Machine Coordinate System

This is the basic coordinate system that is set by the execution of the ZRET (Zero Point Return) or ZSET
(Set Zero Point) command. The position is managed in the Machine Controller in the machine coordinate
system.
For systems that use an incremental encoder, or use an absolute encoder as the incremental encoder, the
machine coordinate system is automatically set by the first zero point return operation after the power sup-
ply is turned ON.
For systems that use an absolute encoder, the machine coordinate system is set automatically after the
power supply is turned ON.

 Deceleration Limit Switch

This is the limit switch for deceleration.
For SERVOPACKs, the deceleration limit switch for zero point return is connected to the Zero Point
Return Deceleration Switch Signal (DEC).

 Command Execution
A motion command is executed when a command code is set to the Motion Command parameter register
(OW08).

 Absolute Position Calculation

You can use the following formula to find the absolute position.
Absolute position (P) = N × RP + PO
Appendices

N: Number of rotations from the absolute reference

position (multi-turn data)
Data maintained by the absolute encoder
PO: Absolute reference position
(initial incremental pulses)
Constant determined by the number of 12
RP: Number of feedback pulses per motor rotation
bits supported by the Servomotor

12-57
 12.9 Terminology

 Absolute Encoder
There are two types of encoders. An incremental encoder detects a position by calculating the difference
from the zero point. An absolute encoder detects the absolute position relative to a reference position.
The absolute encoder uses a battery connected to the battery terminals of the SERVOPACK to maintain
the absolute value data at all times, even when the power supply is turned OFF. It also updates the absolute
value data if the position changes while the power supply is OFF. The absolute encoder consists of a detec-
tor that is used to detect the absolute position within one rotation and a counter that is used to count the
number of rotations. After automatic operation starts, the absolute encoder operates in the same way as an
incremental encoder.

 Absolute Value Set Method

This is one of the target position coordinate data setting methods for position control. With this method,
the target position coordinate data is set directly.
Refer to the following section for details.
Position Reference (page 5-6)

 Absolute Value Data

There are two types of absolute value data stored in the absolute encoder: the absolute reference position
(initial incremental pulses, or PO), and the number of rotations from an absolute reference position (multi-
turn data, or N).
The absolute reference position (initial incremental pulses, or PO) is the phase-C position when the abso-
lute encoder is reset and is the reference position for absolute position detection.
When the absolute encoder is reset, only the number of rotations from the absolute reference position (N)
is cleared. The initial incremental pulses (PO) is not changed.

 Incremental Addition Method

This is one of the target position coordinate data setting methods for position control. When this method is
used, target position coordinate data is set by adding the travel distance to the previous position reference
value.
Refer to the following section for details.
Position Reference (page 5-6)

 Reference Pulse Distribution

Reference pulse distribution is the process of passing reference values from the Machine Controller regis-
ters to the SERVOPACK registers. This process occurs every scan.

 Pulse Position
The pulse position is the position information managed by the Machine Controller converted into pulses.

 Report
“Report” is used for details that are automatically transferred by the system in the CPU Module without
any action by the user.

 Infinite-length Axis
This is an axis that uses infinite-length position control and resets position data every revolution.
Refer to the following section for details.
Axis Selection (page 5-5)

12-58
 12.9 Terminology

 Infinite-length Axis Position Control

This control method is used to perform position control without limiting the movement range, such as for
rotation in only one direction.
Refer to the following section for details.
Axis Selection (page 5-5)

 Finite-length Axis
This is an axis that uses finite-length axis position control or an axis that uses infinite-length axis position
control that rotates in one direction only and does not reset its position data after every rotation.
Refer to the following section for details.
Axis Selection (page 5-5)

 Finite-length Axis Position Control

This control method is used to perform position control within a specified range of movement, such as
round-trip operations.
Refer to the following section for details.
Axis Selection (page 5-5)

 Working Coordinate System

This is the coordinate system that is used in motion programs. It is called the working coordinate system to
distinguish it from the machine coordinate system. The working coordinate system can be set by executing
the POS (Set Current Position) instruction in a motion program.
Refer to the following manual for details.
MP3000 Series Motion Programming Manual (Manual No.: SIEP C880725 14)

Appendices

12

12-59
 Index

Index auxiliary SERVOPACK

Auxiliary SERVOPACK Parameter Number - - - - - - - 4-74, 4-97
Auxiliary SERVOPACK Parameter Read Data - - - - - - - - - - 4-98
Auxiliary SERVOPACK Parameter Set Value - - - - - - - - - - - 4-75
Numerics Auxiliary SERVOPACK Parameter Size - - - - - - - - - - - - - - 4-75
32-bit DPOS- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-92 Axis Selection - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-31
axis selection - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -5-5
A
ABS_RST - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-88 B
ABSLDE - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-90 ball screw- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -5-3
absolute encoder Bias Speed for Indexed Deceleration/Acceleration Filter - - - - - - 4-68
Maximum Number of Absolute Encoder Rotations - - - - - - - 4-41 BUSY - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-87, 4-88
resetting - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-88 C
using the Machine Controller - - - - - - - - - - - - - - - - - - 12-43 C Pulse - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-30
resetting sample ladder program - - - - - - - - - - - - - - - - - - - 12-45 C Pulse Only - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-31
system - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -8-3 cascade connection - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-6, 1-11
absolute encoder system startup - - - - - - - - - - - - - - - - - - - - - - - - -8-3 CHG_FILTER - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-70
Absolute Infinite-length Position Information Load CMD_ALM - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-95
Completed - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-90
CMDRDY - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-95
Absolute Infinite-length Position Information Load Request - - - 4-43
COMM_ALM - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-96
absolute position
commands
detection - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -8-2
Cancel Command - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-52
absolute value specification method - - - - - - - - - - - - - - - - - - - - 12-58
Command Control register - - - - - - - - - - - - - - - - - - - - - - - 12-38
ACC - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-64
Command Error End - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-88
acceleration time
Command Error Status - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-95
changing - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-64
Command Execution Completed - - - - - - - - - - - - - - - 4-88, 4-89
acceleration/deceleration
Command Execution Flag - - - - - - - - - - - - - - - - - - - - 4-87, 4-88
Acceleration/Deceleration Rate Unit Selection - - - - - - - - - - 4-47
Command Hold Completed - - - - - - - - - - - - - - - - - - - - - - - - 4-87
filter settings - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-15
Command Ready - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-95
settings - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-12
Command Status - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 12-39
specifying rates - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-67
Echo-back of Command ID - - - - - - - - - - - - - - - - - - - - - - - - 4-95
Address Setting - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-75
execution judgment table - - - - - - - - - - - - - - - - - - - - - - - - - -7-6
Alarm Clear Execution Completed - - - - - - - - - - - - - - - - - - - - - - 4-95
Hold Command - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-52
alarms
communications error
Clear Alarm - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-45
Communications Error Status - - - - - - - - - - - - - - - - - - - - - - 4-96
clear command - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 12-24
Mask Communications Error Detection - - - - - - - - - - - - - - - 4-35
clearing alarm history - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-86
COMPLETE - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-88, 4-89
monitoring - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-82
connecting to a Σ-V Servo Drive - - - - - - - - - - - - - - - - - - - - - - - 11-4
monitoring alarm history - - - - - - - - - - - - - - - - - - - - - - - - - - 6-84
control block diagram
read command - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 12-22
phase control - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-16
alarms/warnings
position control - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -2-8
clear command - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 12-24
speed control - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-32
read command - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 12-22
torque control - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-24
ALM_CLR_CMP - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-95
controlling vertical axes - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 11-3
ALM_HIST - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-84
CPOS - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-91
ALM_MON - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-82
CPU STOP operation - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 12-42
ALMHIST_CLR - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-86
Creep Speed - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-69
APOS - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-92
Cyclic Communications Initialization Incomplete - - - - - - - - - - - 4-86
Approach Speed - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-69
automatically updated parameters - - - - - - - - - - - - - - - - - - - - - 11-33

Index-1
 Index

D filter time constant

D_ALM - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-94 changing - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-68

D_WAR - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-95 Filter Time Constant Change Error - - - - - - - - - - - - - - - - - - 4-85

data I/O commands - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 12-21 filter type
DCC - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-66 changing - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-70
DEC1 + C Pulse - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-26 Filter Type Change Error - - - - - - - - - - - - - - - - - - - - - - - - - 4-85
DEC1 + ZERO Signal - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-28 Filter Type Selection - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-47
deceleration limit switch - - - - - - - - - - - - - - - - - - - - - - - - - - - - 12-57 finite-length axis - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 12-59
deceleration time position control - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 12-59
changing - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-66 finite-length operation - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-7
DEN - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-89 first address of the motion parameter registers - - - - - - - - - - - - - - 4-2
device information fixed parameter table - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-4
Device Information Monitor Code - - - - - - - - - - - - - - - - - - 4-100 fixed parameters
Device Information Monitor Data - - - - - - - - - - - - - - - - - - 4-100 details - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-30
Device Information Selection Code - - - - - - - - - - - - - - - - - - 4-75 Fixed Parameter Error - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-81
reading - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-130 Fixed Parameter Monitor - - - - - - - - - - - - - - - - - - - - - - - - - 4-99
Distribution Completed - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-89 Fixed Parameter Number - - - - - - - - - - - - - - - - - - - - - - - - - 4-76
DPOS - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-92 Fixed Parameter Tab Page - - - - - - - - - - - - - - - - - - - - -3-24, 4-6
Drive Alarm - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-94 list - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-8
Drive Warning - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-95 reading - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-134
FIXPRM_RD - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-134
E
Function Selection Flags 1 - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-31
Electronic Cam Phase Compensation Type - - - - - - - - - - - - - - - - 4-53
Function Selection Flags 2 - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-35
electronic gear - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-3
Function Settings 1- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-47
Encoder Selection - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-39
Function Settings 2- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-48
environment for using Σ-7-series SERVOPACKs - - - - - - - - - - - 3-17
Function Settings 3- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-49
EX_FEED - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-109
switching to another command - - - - - - - - - - - - - - - - - - - - - 7-48 H
EX_POSING - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-13 HOLDL- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-87
switching to another command - - - - - - - - - - - - - - - - - - - - - 7-11 HOME LS + C Pulse - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-34
Excessive Absolute Encoder Rotations - - - - - - - - - - - - - - - - - - 4-86 HOME Only - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-36
Excessive Deviation - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-81, 4-84
I
excessive deviation
I/O commands - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 12-20
Excessive Deviation Detection Value - - - - - - - - - - - - - - - - - 4-61
I/O Map Tab Page - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-15
Excessive Deviation Error Level Setting - - - - - - - - - - - - - - 4-45
I/O Module settings - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 12-18
Excessive Speed- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-84
incremental encoder - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-21
external appearance - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-15
incremental value addition method - - - - - - - - - - - - - - - - - - - - 12-58
external positioning - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-13
indicators- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-15
External Positioning Final Travel Distance - - - - - - - - - - - - - 4-71
INF_RD - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-130
External Positioning Signal Setting - - - - - - - - - - - - - - - - - - 4-48
infinite-length axis - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 12-58
F Infinite-length Axis Reset Position - - - - - - - - - - - - - - - - - - 4-37
FAIL - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-88 position control - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 12-59
FEED - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-51 Infinite-length Operation - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-13
switching to another command - - - - - - - - - - - - - - - - - - - - - 7-24 infinite-length operation with non-simple absolute infinite axis
position management - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-19
Feedback Speed - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-98
infinite-length operation with simple absolute infinite axis
feedback speed
position management - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-15
Feedback Speed Movement Averaging Time Constant - - - - 4-41
INPUT + C Pulse - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-40
feedforward
INPUT Only - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-41
changing - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-76
INTERPOLATE - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-43
Filter Time Constant - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-68
switching to another command - - - - - - - - - - - - - - - - - - - - - 7-19
interpolation - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-43
Interpolation Segment Distribution Processing - - - - - - - - - - - - - 4-32

Index-2
 Index

inverter M
alarms (A1000) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 10-68 machine coordinate system - - - - - - - - - - - - - - - - - - - - - - - - - - 12-57
alarms (V1000) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 10-74 Machine Coordinate System Calculated Position - - - - - - - - 4-91
fixed parameter list - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 10-37 Machine Coordinate System Feedback Position - - - - - - - - - 4-92
input data details - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 10-64 Machine Coordinate System Latch Position - - - - - - - - - - - - 4-92
list of main commands - - - - - - - - - - - - - - - - - - - - - - - - - - 10-19 Machine Coordinate System Reference Position - - - - - - - - - 4-92
list of subcommands - - - - - - - - - - - - - - - - - - - - - - - - - - - - 10-19 Machine Coordinate System Target Position - - - - - - - - - - - - 4-91
main command details - - - - - - - - - - - - - - - - - - - - - - - - - - 10-21 Zero Point Position Offset in Machine Coordinate
monitoring parameter list - - - - - - - - - - - - - - - - - - - - - - - - 10-51 System- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-71
output data details - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 10-64 Machine Gear Ratio Term - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-37
setting parameter list - - - - - - - - - - - - - - - - - - - - - - - - - - - - 10-38 Machine Lock - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-42, 4-90
setup procedure - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 10-3 Mask Watchdog Error Detection - - - - - - - - - - - - - - - - - - - - - - - 4-35
specifications for communications Master Status register - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 12-38
with connected inverters - - - - - - - - - - - - - - - - - - - - - - - - - - 10-2 MECHATROLINK communications definition- - - - - - - - - - - - - -3-7
subcommand details - - - - - - - - - - - - - - - - - - - - - - - - - - - - 10-30 MEM_RD - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-115
MEM_WR - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-117
J
memory
jog - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-51
reading - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-115
jog with external positioning - - - - - - - - - - - - - - - - - - - - - - - - - 6-109
writing - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-117
K M-III
KFS - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-76 M-III Command Status - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-94
KIS - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-104 M-III Servo Command Input Signal Monitor - - - - - - - - - - - 4-94
KPS - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-74 M-III Servo Command Status - - - - - - - - - - - - - - - - - - - - - - 4-94
KVS - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-72 M-III Vendor-specific Servo Command Output Signal- - - - - 4-50
L mixed cascade/star connection - - - - - - - - - - - - - - - - - - - - - - - - - -1-8
LATCH - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-47 MLKL - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-90
switching to another command - - - - - - - - - - - - - - - - - - - - - 7-23 modal latch - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 11-13

latch - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-47 Mode Settings 1 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-45

Latch Complete - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-89 Mode Settings 2 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-46

Latch Completed Status Clear Request - - - - - - - - - - - - - - - - 4-44 module configuration definition - - - - - - - - - - - - - - - - - - - - - - - - -3-2
Monitor 2 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-72
Latch Detection Request - - - - - - - - - - - - - - - - - - - - - - - - - - 4-43
Monitor 4 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-73
Latch Detection Signal Selection - - - - - - - - - - - - - - - - - - - - 4-48
monitor parameter table - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-17
Latch Mode - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-80
monitor parameters
latch zone
details - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-79
Latch Zone Enable - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-53
list - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-21
Latch Zone Lower Limit Setting - - - - - - - - - - - - - - - - - - - - 4-62
Monitor Parameter Tab Page - - - - - - - - - - - - - - - - - - - 3-24, 4-6
Latch Zone Upper Limit Setting - - - - - - - - - - - - - - - - - - - - 4-62
Motion Commands - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-51
LCOMP - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-89
motion commands
Linear Acceleration Rate/Acceleration Time Constant - - - - - - - - 4-66
execution judgment table - - - - - - - - - - - - - - - - - - - - - - - - - -7-2
Linear Deceleration Rate/Deceleration Time Constant - - - - - - - - 4-67
list - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -6-3
Linear Scale Pitch - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-36
Motion Command Response Code - - - - - - - - - - - - - - - - - - - 4-87
linear scale pitch - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-16
Motion Command Setting Error - - - - - - - - - - - - - - - - - - - - - 4-81
Link Assignment Tab Page - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-11
LPOS- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-92 Motion Command Status - - - - - - - - - - - - - - - - - - - - - - - - - - 4-87
Motion Commands Control Flags - - - - - - - - - - - - - - - - - - - 4-52
Motion Operation Ready - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-79
motion parameter register addresses - - - - - - - - - - - - - - - - - - - - - -4-2
motion parameters
Motion Parameter Tab Pages - - - - - - - - - - - - - - - - - - - - - - - -4-6
phase control - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-10
position control - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -2-2
setting examples - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -5-2

Index-3
 Index

speed control - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-26 PDV - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-93

torque control - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-18 PERR - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-93
Motion Subcommands - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-54 PHASE - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-100
motion subcommands switching to another command - - - - - - - - - - - - - - - - - - - - - 7-44
execution judgment table - - - - - - - - - - - - - - - - - - - - - - - - - - 7-4 PHASE (issue phase reference) - - - - - - - - - - - - - - - - - - - - - - - 6-100
list - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-123 Phase Compensation Setting - - - - - - - - - - - - - - - - - - - - - - - - - - 4-62
Motion Subcommand Response Code - - - - - - - - - - - - - - - - 4-88 phase reference - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-100
Motion Subcommand Status - - - - - - - - - - - - - - - - - - - - - - - 4-88 Disable Phase Reference Calculation - - - - - - - - - - - - - - - - - 4-49

Motor Type - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-98 phase-C pulse - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 12-57

Motor Type Selection - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-39 PMEM_RD - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-119
MPOS - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-92 PMEM_WR - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-121
multiturn limit setting - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 12-48 POSCOMP - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-89
sample ladder program - - - - - - - - - - - - - - - - - - - - - - - - - - 12-50 POSING - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-6
switching to another command - - - - - - - - - - - - - - - - - - - - - - 7-7
N Position Deviation - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-93
NEAR - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-90 Position Loop Gain - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-63
negative direction position loop gain
Negative Overtravel - - - - - - - - - - - - - - - - - - - - - - - - - 4-82, 4-83 changing - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-74
Negative Software Limit - - - - - - - - - - - - - - - - - 4-38, 4-77, 4-84 Position Loop Integral Time Constant - - - - - - - - - - - - - - - - - - - 4-65
Negative External Torque/Force Input - - - - - - - - - - - - - - - - - - - 4-44 position loop integral time constant
no command - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-124 changing - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-104
non-volatile memory Position Management Status - - - - - - - - - - - - - - - - - - - - - - - - - - 4-89
reading - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-119 position reference - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-6
writing - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-121 Position Reference Setting - - - - - - - - - - - - - - - - - - - - - - - - 4-58
non-volatile parameters Position Reference Type - - - - - - - - - - - - - - - - - - - - - - - - - - 4-53
read command - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 12-28 positioning - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-6
write command - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 12-30 Excessive Positioning Travel Distance - - - - - - - - - - - - - - - - 4-84
writing - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-106 Near Position - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-90
NOP - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-124 NEAR Signal Output Width - - - - - - - - - - - - - - - - - - - - - - - 4-60
N-OT + C Pulse - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-37 Positioning Completed - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-89
N-OT Only - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-38
Positioning Completion Check Time - - - - - - - - - - - - - - - - - 4-61
Number of Digits Below Decimal Point - - - - - - - - - - - - - - - - - - 4-36
Positioning Completion Width - - - - - - - - - - - - - - - - - - - - - 4-59
Number of Pulses Per Linear Scale Pitch - - - - - - - - - - - - - - - - - 4-40
Positioning Time Exceeded - - - - - - - - - - - - - - - - - - - - - - - - 4-84
Number of Pulses Per Motor Rotation - - - - - - - - - - - - - - - - - - - 4-40
positive direction
O Positive Overtravel- - - - - - - - - - - - - - - - - - - - - - - - - - 4-82, 4-83
OL10 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-11 Positive Software Limit - - - - - - - - - - - - - - - - - 4-38, 4-77, 4-83
Operation Command Settings - - - - - - - - - - - - - - - - - - - - - - - - - 4-42 Positive External Torque/Force Input - - - - - - - - - - - - - - - - - - - - 4-43
Operation Mode Selection - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-30 POSMAX - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 12-57
Out-of-range Parameter Number - - - - - - - - - - - - - - - - - - - - - - - 4-80 Number of POSMAX Turns - - - - - - - - - - - - - - - - - - - - - - - 4-93
Override - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-58 Number of POSMAX Turns Preset Data - - - - - - - - - - - - - - 4-72
override - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-12, 12-57 Number of POSMAX Turns Preset Request - - - - - - - - - - - - 4-43
overtravel POSMAX Turn Preset Completed - - - - - - - - - - - - - - - - - - - 4-91
Enable Negative Overtravel - - - - - - - - - - - - - - - - - - - - - - - 4-32 P-OT + C Pulse - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-32
Enable Positive Overtravel - - - - - - - - - - - - - - - - - - - - - - - - 4-32 P-OT Only - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-33
function - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 11-6 Power OFF Encoder Position
OW18 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-12 Lower 2 Words - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-76, 4-100

P Upper 2 Words - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-76, 4-100

Power OFF Pulse Position
parameters
Lower 2 Words - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-77, 4-100
read command - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 12-25
Upper 2 Words - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-77, 4-100
Transmission Parameters Tab Page - - - - - - - - - - - - - - - - - - - 3-8
PPRM_WR - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-106
write command - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 12-26
precautions when using Σ-7-series SERVOPACKs - - - - - - - - - 11-39
parameters automatically updated during self configuration- - - 11-38

Index-4
 Index

PRM_RD - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -6-78, 6-125 SERVOPACK Parameter Read Data - - - - - - - - - - - - - - - - - 4-97

PRM_WR - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -6-80, 6-128 SERVOPACK Parameter Set Value - - - - - - - - - - - - - - - - - - 4-74

R SERVOPACK Parameter Size - - - - - - - - - - - - - - - - - - - - - - 4-74

Rated Motor Speed - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-39 SERVOPACK Stop Signal Active - - - - - - - - - - - - - - - - - - - 4-82

Rated Speed - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-40 SERVOPACK Synchronized Communications Error - - - - - - 4-85

rated speed - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-16 SERVOPACK User Monitor 2 - - - - - - - - - - - - - - - - - - - - - - 4-97

RCMD_ID - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-95 SERVOPACK User Monitor 4 - - - - - - - - - - - - - - - - - - - - - - 4-97
read memory command - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 12-32 SERVOPACK User Monitor Information - - - - - - - - - - - - - - 4-96
reference distribution timing - - - - - - - - - - - - - - - - - - - - - - - - - - 1-13 SERVOPACK User Monitor Setting - - - - - - - - - - - - - - - - - 4-72
reference unit - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -5-2 writing SERVOPACK parameters - - - - - - - - - - - - - -6-80, 6-128
Reference Unit Selection - - - - - - - - - - - - - - - - - - - - - - - - - - 4-35 SERVOPACK parameters
Report - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-31 current values and set values - - - - - - - - - - - - - - - - - - - - - - - 3-27
Reset Communications - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-45 setting parameters
reset communications command - - - - - - - - - - - - - - - - - - - - - - 12-36 detail - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-42
Reset Integration - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-44 list - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-11, 9-7
Reset Network - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-44 Setting Parameter Error - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-81
reset network command - - - - - - - - - - - - - - - - - - - - - - - - - - - - 12-37 Setting Parameter Tab Page - - - - - - - - - - - - - - - - - - - - 3-24, 4-6
rotary table - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -5-4 setting the zero point of the machine coordinate system - - - - - - - -8-4
RUN Status - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-79 setting up the absolute encoder (initialization) - - - - - - - - - - - - - -8-4
Running with Servo ON - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-79 Simple Absolute Infinite Axis Position Management

S setting - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-33
Simulation Mode - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-10, 4-31
sample programs
slave CPU synchronization - - - - - - - - - - - - - - - - - - - - - - - - - - 11-20
performing a zero point returns - - - - - - - - - - - - - - - - - - - - 12-12
SMON - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-132
performing positioning - - - - - - - - - - - - - - - - - - - - - - - - - - - 12-7
software limit setting
performing positioning with an external signal - - - - - - - - - - 12-9
using fixed parameters - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-38
saving the value of OL48 before the power supply is
turned OFF- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-10 using setting parameters - - - - - - - - - - - - - - - - - - - - - - - - - - 4-77
Scan Setting Error- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-86 software limits
SCC- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-68 Enable Negative Software Limit - - - - - - - - - - - - - - - - - - - - 4-32
Second Speed Compensation - - - - - - - - - - - - - - - - - - - - - - - - - - 4-57 Enable Positive Software Limit - - - - - - - - - - - - - - - - - - - - - 4-31
servo driver function - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 11-9
Servo Driver Error - - - - - - - - - - - - - - - - - - - - - - - - - 4-81, 4-83 specifications - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 12-3
Servo Monitor Parameter Tab Page - - - - - - - - - - - - - - - - - 3-25, 4-7 Speed Compensation- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-64
Servo OFF - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-84 Speed Feedforward Compensation - - - - - - - - - - - - - - - - - - - - - - 4-64
Servo ON - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-42 Speed Limit - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-56
Servo ON Incomplete - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-82 Speed Limit for Torque/Force Reference - - - - - - - - - - - - - - - - - 4-55
Servo Parameter Tab Page - - - - - - - - - - - - - - - - - - - - - - - - 3-25, 4-7 Speed Loop Gain - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-64
Servo Ready - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-80 speed loop gain
Servomotor Gear Ratio Term - - - - - - - - - - - - - - - - - - - - - - - - - - 4-37 changing - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-72
SERVOPACK Speed Loop Integral Time Constant - - - - - - - - - - - - - - - - - - - - - 4-65
Connected Encoder Model Error - - - - - - - - - - - - - - - - - - - - 4-87 Speed Loop P/PI Switch - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-46
Detected SERVOPACK Model Error - - - - - - - - - - - - - - - - - 4-86 speed reference - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-9, 6-89
Motor Type Setting Error - - - - - - - - - - - - - - - - - - - - - - - - - 4-86 setting - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-11
reading SERVOPACK parameters - - - - - - - - - - - - - -6-78, 6-125 Speed Reference Output Monitor - - - - - - - - - - - - - - - - - - - - 4-93
SERVOPACK Alarm Code - - - - - - - - - - - - - - - - - - - - - - - - 4-96 Speed Reference Setting - - - - - - - - - - - - - - - - - - - - - - - - - - 4-55
SERVOPACK Alarm Monitor Number - - - - - - - - - - - - - - - 4-73 Speed Unit Selection - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-47
SERVOPACK Communications Error - - - - - - - - - - - - - - - - 4-85 star connection - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-7, 1-11
SERVOPACK Communications Timeout Error - - - - - - - - - - 4-85 status
SERVOPACK Communications Warning - - - - - - - - - - - - - - 4-82 monitoring - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-132

SERVOPACK Parameter Access Selection - - - - - - - - - - - - - 4-54 Status Tab Page - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-15

SERVOPACK Parameter Auto-Write - - - - - - - - - - - - - - - - - 4-33

SERVOPACK Parameter Number - - - - - - - - - - - - - - 4-73, 4-97

Index-5
 Index

STEP - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-56 Transmission Reference Mode

STEP operation - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-56 Command Buffers for SERVOPACK Transmission
STEP Travel Distance - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-70 Reference Mode - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-78
Response Buffers for SERVOPACK Transmission
switching to another command - - - - - - - - - - - - - - - - - - - - - 7-29
Reference Mode - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-101
Stop Mode Selection - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-46
SERVOPACK Transmission Reference Mode - - - - - - - - - - 4-31
SVC - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-3
Travel Direction - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-52
SVC definition - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-22
Travel Distance per Machine Rotation - - - - - - - - - - - - - - - - - - - 4-36
SVC32 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-3
TRQ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-95
features - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-3
switching to another command - - - - - - - - - - - - - - - - - - - - - 7-39
indicators - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-15
network topologies - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-6 U
SVR - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-9 User-specified SERVOPACK Parameters
SVR32 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -1-9, 1-10 User-specified SERVOPACK Parameter Auto-Write - - - - - 4-33
features - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-9 User-specified SERVOPACK Parameter Number - - - - - - - - 4-41
operation - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-9 User-specified SERVOPACK Parameter Set Value - - - - - - - 4-78
Switch Gain - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-46 User-specified SERVOPACK Parameter Size - - - - - - - - - - - 4-42
Switch Gain 2 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-46
V
switching from the ENDOF_INTERPOLATE or LATCH
motion command - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-23 VELO - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-89

switching motion commands - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-6 switching to another command - - - - - - - - - - - - - - - - - - - - - 7-34

from the ENDOF_INTERPOLATE command - - - - - - - - - - 7-23 W

from the EX_FEED command - - - - - - - - - - - - - - - - - - - - - 7-48 Warnings - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-81
from the EX_POSING command - - - - - - - - - - - - - - - - - - - 7-11 warnings
from the FEED command - - - - - - - - - - - - - - - - - - - - - - - - - 7-24 clear command - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 12-24
from the INTERPOLATE command - - - - - - - - - - - - - - - - - 7-19 read command - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 12-22
from the LATCH command - - - - - - - - - - - - - - - - - - - - - - - 7-23 working coordinate system - - - - - - - - - - - - - - - - - - - - - - - - - - 12-59
from the PHASE command - - - - - - - - - - - - - - - - - - - - - - - - 7-44 Working Coordinate System Offset - - - - - - - - - - - - - - - - - - 4-71
from the POSING command - - - - - - - - - - - - - - - - - - - - - - - - 7-7 write memory command - - - - - - - - - - - - - - - - - - - - - - - - - - - - 12-34
from the STEP command - - - - - - - - - - - - - - - - - - - - - - - - - 7-29
Z
from the TRQ command - - - - - - - - - - - - - - - - - - - - - - - - - - 7-39
ZERO - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-90
from the VELO command - - - - - - - - - - - - - - - - - - - - - - - - 7-34
Zero Point Position- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-90
from the ZRET command - - - - - - - - - - - - - - - - - - - - - - - - - 7-15
zero point position
from the ZSET command - - - - - - - - - - - - - - - - - - - - - - - - - 7-33
Zero Point Position Output Width - - - - - - - - - - - - - - - - - - - 4-69
synchronization between Modules - - - - - - - - - - - - - - - - - - - - - - 1-11
zero point return- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-21
System Busy - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-80
Zero Point Return Completed - - - - - - - - - - - - - - - - - - - - - - 4-90
system configuration example - - - - - - - - - - - - - - - - - - - - - - - - - - 1-4
Zero Point Return Direction Selection - - - - - - - - - - - - - - - - 4-52
system registers - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 12-15
Zero Point Return Input Signal - - - - - - - - - - - - - - - - - - - - - 4-49
T Zero Point Return Method - - - - - - - - - - - - - - - - - - - - - - - - 4-69
Target Position Increment Monitor - - - - - - - - - - - - - - - - - - - - - 4-93 Zero Point Return Method Selection - - - - - - - - - - - - - - - - - 6-21
terminology - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 12-57 Zero Point Return Travel Distance- - - - - - - - - - - - - - - - - - - 4-70
Torque Base Unit of SERVOPACK - - - - - - - - - - - - - - - - - - - - - 4-34 zero point setting - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-62
Torque Feedforward Compensation - - - - - - - - - - - - - - - - - - - - - 4-54 Zero Point Setting Completed - - - - - - - - - - - - - - - - - - - - - - 4-90
Torque Unit Selection - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-47 Zero Point Unset - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-85
Torque/Force Limit - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-57 ZERO Signal - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-27
torque/force reference - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-95 ZRET - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-21
Torque/Force Reference Monitor - - - - - - - - - - - - - - - - - - - - - - - 4-99 switching to another command - - - - - - - - - - - - - - - - - - - - - 7-15
Torque/Force Reference Setting - - - - - - - - - - - - - - - - - - - - - - - 4-54 ZRNC - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-90
TPOS - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-91 ZSET - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-62
TPRSE - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-91 switching to another command - - - - - - - - - - - - - - - - - - - - - 7-33

Index-6
 Revision History

The revision dates and numbers of the revised manuals are given on the bottom of the back cover.

MANUAL NO. SIEP C880725 11A <0>-1

WEB revision number
Revision number
Published in Japan March 2012
Date of publication

WEB
Date of Rev.
Rev. Section Revised Contents
Publication No.
No.
October 2016 <4> 0 4.3, 4.4 Addition: Information on bit D (Torque Base Unit of SERVOPACK) in fixed
parameter No. 1
July 2016 <3> 1 4.4 Revision: Information on bits for IL28
4.4, 5.1 Deletion: Setting precautions for Position Reference Type (OW09 Bit5)
March 2016 0 – Based on Japanese user’s manual, SIJP C880725 11G<6>-0, published in February
2016.
All chapters Completely revised.
Back cover Revision: Address
May 2015 <2> 0 – Based on Japanese user’s manual, SIJP C880725 11D<3>-0, published in Novem-
ber 2014.
Front cover, spine Revision: Format
All chapters Completely revised.
Back cover Revision: Format and address
September 2013 <1> 1 2.2 Revision: Diagram of phase reference generation when using an electronic shaft
Back cover Revision: Address
October 2012 0 – Fully revised.
Back cover Revision: Address
March 2012 <0> 1 1.1 Deletion: Descriptions of Option Modules and the Rack Expansion Interface Unit.
Back cover Revision: Address
December 2011 – – – First edition

Revision History-1
Machine Controller MP3000 Series
Motion Control
USER’S MANUAL
SVC/SVR, SVC32/SVR32

IRUMA BUSINESS CENTER (SOLUTION CENTER)

480, Kamifujisawa, Iruma, Saitama, 358-8555, Japan
Phone 81-4-2962-5151 Fax 81-4-2962-6138
http://www.yaskawa.co.jp
YASKAWA AMERICA, INC.
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Phone 1-800-YASKAWA (927-5292) or 1-847-887-7000 Fax 1-847-887-7310
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Phone 55-11-3585-1100 Fax 55-11-3585-1187
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185, Hauptstraβe, Eschborn, 65760, Germany
Phone 49-6196-569-300 Fax 49-6196-569-398
http://www.yaskawa.eu.com
YASKAWA ELECTRIC KOREA CORPORATION
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Phone 82-2-784-7844 Fax 82-2-784-8495
http://www.yaskawa.co.kr
YASKAWA ELECTRIC (SINGAPORE) PTE. LTD.
151, Lorong Chuan, #04-02A, New Tech Park, 556741, Singapore
Phone 65-6282-3003 Fax 65-6289-3003
http://www.yaskawa.com.sg
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Phone 66-2-017-0099 Fax 66-2-017-0799
http://www.yaskawa.co.th
YASKAWA ELECTRIC (CHINA) CO., LTD.
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Phone 86-21-5385-2200 Fax 86-21-5385-3299
http://www.yaskawa.com.cn
YASKAWA ELECTRIC (CHINA) CO., LTD. BEIJING OFFICE
Room 1011, Tower W3 Oriental Plaza, No.1, East Chang An Ave.,
Dong Cheng District, Beijing, 100738, China
Phone 86-10-8518-4086 Fax 86-10-8518-4082
YASKAWA ELECTRIC TAIWAN CORPORATION
9F, 16, Nanking E. Rd., Sec. 3, Taipei, 104, Taiwan
Phone 886-2-2502-5003 Fax 886-2-2505-1280

In the event that the end user of this product is to be the military and said product is to
be employed in any weapons systems or the manufacture thereof, the export will fall
under the relevant regulations as stipulated in the Foreign Exchange and Foreign
Trade Regulations. Therefore, be sure to follow all procedures and submit all relevant
documentation according to any and all rules, regulations and laws that may apply.
Specifications are subject to change without notice for ongoing product modifications
and improvements.
© 2011-2016 YASKAWA ELECTRIC CORPORATION

MANUAL NO. SIEP C880725 11D <4>-0

Published in Japan October 2016
15-8-11