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4. Pulse Train Input Interface Setting Commands Command Code1711h Data Length4 bytes Software Switch Data No Function Setting range Initial value Setting unit Data1 Motor type Cf. list shown below 0 Data2 Pulse input method 0- 0input 0 =2 input method, 11 input method Data3 Resolution, Limit allowed Cf. list shown below 0 Data4 No function allocation Sets the motor type, the resolution and the pulse input method. Data No Bit7 Bit6 Bit5 Bit4 Bit3 Bit2 Bit1 Bit0 Data1 Motor model number Data2 Pulse input method selection Data3 Limit Resolution Data4 No function allocation Data1 Motor type: Bit2 Bit1 Bit0 Motor model PBM282 PBM284 PBM423 PBM603 1 PBM604 1 1 Reserved 1 1 Reserved 1 1 1 Reserved Data3 Resolution Bit2 Bit1 Bit0 Position command resolution(P/R) 500 1000 2000 4000 1 5000 1 1 10000 1 1 Setting prohibited 1 1 1 Setting prohibited DAT3-Bit7 For CN1- Hard Limit input, select SDN + Limit or only SDN. 0Hard Limit function and SDN functionFunctions as SDN input during zero-return motion and as Limit input during the normal operation. 1SDN functionHard Limit function input becomes invalid. 415
4. Pulse Train Input Interface Command Code1913h Data Length1 byte Initial Movement Direction Data No Function Setting range Initial value Setting unit Data1 Initial movement 0-1 0 01 direction Defines the initialization movement direction. As the PB system initializes the encoder counter when the power is turned on, operate the motor within the prescribed range. If it is not in STOP or Alarm status after the power is turned on, initialization movement is executed automatically and it will change to servo ON status after normal completion. Initialization movement error will occur if the load condition reaches mechanical limit or a power line connection error occurs. Command Code2014h Data Length4 bytes Alarm Detection Condition Data No Function Setting range Initial value Setting unit Data1 Overload stop time 1-Ch 8 1sLSB Data2-3 Position deviation excess detection threshold value 14-FFFFh 1770h 1PLSstandard 2000P/R Data4 Enables or disables the 01h 0Detection allowed detection 1Detection prohibited Sets the alarm detection conditions and enables or disables the alarm detection function. Data No Bit7 Bit6 Bit5 Bit4 Bit3 Bit2 Bit1 Bit0 Data1 Overload stop time Data2 Position deviation excess value(lower Byte Data3 Position deviation excess value(higher Byte Data4 SL- SL+ Wrap Data1 Sets the ALM detection time for when the motor can not operate because of overload or load reaching mechanical end. Data2,3 Position deviation error is detected when excessive acceleration or deceleration affects the motor torque. For these cases, decrease the acceleration or deceleration rates or change the position deviation excess value. Data4 Enables or disables the desired alarm and Soft Limit function. WRAP: Enables or disables ALM detection for Wrap Around (coordinate sign reversal). Select “1” (detection prohibited) to enable continuous operation in the same direction. SL+: Enables or disables the Positive Soft Limit function set by Command 32h. SL-: Enables or disables the Negative Soft Limit function set by Command 33h. 416
Page 1 and 2: M0007846 SANMOTION CLOSED LOOP STEP
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