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5. Type R Interface Command Code432Bh Data Length1 byte Modulo Function Enable / Disable DAT No Contents Setting range Setting value Initial value DAT1 Modulo function enable / disable 0: disabled 1: enabled 0 Enables or disables the modulo function. When enabled, absolute move commands perform modulo operation. When the modulo is enabled, the target position should be set in the following range: Target position Modulo value - ZONE set coordinates will also be enabled along modulo coordinates. Command Code442Ch Data Length4 bytes Modulo Value DAT No Content Setting range Setting unit Initial value DAT14 Modulo Value See below depends on setting resolution Equivalent of 1 rotation Sets the modulo pulse number per rotation. Coordinate setting is not possible for the negative direction. Basic divisions 500 1000 2000 4000 5000 10000 Setting unitDeg 0.72 0.36 0.18 0.09 0.072 0.036 Upper limit coordinate(Hex) 3333333 6666666 CCCCCCC 19999999 1FFFFFFF 3FFFFFFF Command Code452Dh Data Length1 byte Modulo Direction DAT No Content Setting range Setting unit Initial Value DAT1 Modulo Direction 02 0Positive direction Negative 2 direction Shortcut Sets the direction of the modulo operation. This function presets the amplifier internal coordinates to the range specified by Command 2Ch. Enabled after zero-return is completed. The operation is performed in the direction selected by Command2Dh. This function is effective for applications where shortcut-control of rotating loads or switching from velocity control to in-position control is necessarily. Modulo function is disabled Coordinate value Modulo value Command 2C value -1 Valid position range when modulo function is enabled When using incremental move commands or SCAN operation, the coordinates (absolute position monitor) follow the modulo settings. 539
5. Type R Interface Command Code4830h Data Length4 bytes In-Position width DAT No Function Setting range Setting unit Initial value DAT14 In-Position width 0CCCCCCCh ±1Pulse/LSB (Standard 2000P/R h Sets the in-position width during move commands by Command 38, 3Ah. In-position status results from reaching the range defined by the target position ± the setting value. When a zero-return operation is performed, in-position is output at the time of zero-return completion. When move commands with push are used, in-position will be output in reference to the push target position. (Use the motor stop signal function to determine push completion.) Command Code5032h/5133h Data Length4 bytes Soft LimitSoft Limit DAT No Function Setting range Initial value(Hex) Setting unit DAT1 Limit value Depends on the Maximum 360Setting resolution(P/R) 4 resolution Command 32hPositive direction Soft Limit value setting Command 33hNegative direction Soft Limit value setting Sets the Soft limit as an absolute position. It is valid if the Soft limit function was enabled by Command 14h. Setting range Basic division 500 1000 2000 4000 5000 10000 setting Pos. direction 3333333 6666666 CCCCCCC 19999999 1FFFFFFF 3FFFFFFF upper limit value Neg. direction FCCCCCCD F999999A F3333334 E6666667 E0000001 C0000001 upper limit value Detection conditions When a move command is received If the target position exceeds the limit when a move command is received, a command error is generated. During SCAN operation If the actual position exceeds the limit, a deceleration stop is performed. During the limit state, a move command in the limit direction will generate a command error. A move command opposite to the limit direction will be executed normally. When performing a zero-return operation Limit is not monitored if the zero-return is incomplete or the zero-return is still in progress. 540
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M0007846 SANMOTION CLOSED LOOP STEP
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Contents 1. Safety Pre
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Safety Precautions common 1.1 Int
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Safety Precautions common 1.3 Safet
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Safety Precautions common Operati
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2. Model Number Specifications (com
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2. Model Number Specifications (com
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D5 6 7 8 9 A B C 3. Installation /
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3. Installation / Wiring (common)
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Pulse Train Input Interface
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4. Pulse Train Input Interface
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6. Basic Specificationscommon
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8. International Standards Conformi
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common - Sanyo Denki America, Inc.

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