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4. Pulse Train Input Interface Command Code226E2h Data Length2 bytes Control Switch Condition Data No Function Setting range Initial value Setting unit Data1 Control switching 0-FFh 2 2000PPSLSB frequency Data2 Current time constant 0-FFh 2 3A/255/0.5ms Control switching frequency is used to reduce the vibration caused at the time of slow motion operation. Set the frequency after referring to the recommended methods shown below. Normally, do not change the current time constant. Velocity differentiates depending on setting resolution. The torque generated below the set frequency will depend on Power Limit during stoppage. If the control switch is employed, please set it to 0. Recommended methods for use Control switch frequencySetting value×2000PPS During slow motion operationCommand frequency(PPS) During normal operationStart frequency+2000(PPS) Command frequency 421
4. Pulse Train Input Interface 4 User Setting Commands Command Code4830h Data Length4 bytes In-Position Width Data No Function Setting range Initial value Setting unit Data1-4 In-Position width 1-CCCCCCCh Ah 1PLS(Standard 2000P/R) Sets the in-position width. In-position signal is sent when there is no pulse command (2ms) and when the remaining pulse is within the range of ± in-position width. When a zero-return operation is performed, in-position is output at the time of zero-return completion. Command Code5032h/5133h Data Length4 bytes Positive Soft Limit / Negative Soft Limit Data No Function Setting range Initial value Setting unit Data1-4 Limit value See below Maximum Depends on the resolution Command 32hPositive soft limit value setting Command 33hNegative soft limit value setting Sets the software limit as an absolute position. The limit is valid if the soft limit function was enabled by command code 14h. Setting rangewith sign Resolution(P/R) 500 1000 2000 4000 5000 10000 Pos. upper limit value 3333333 6666666 CCCCCCC 19999999 1FFFFFFF 3FFFFFFF Neg. upper limit value FCCCCCCD F999999A F3333334 E6666667 E0000001 C0000001 Detection conditions If the absolute position counter exceeds the limit, a deceleration stop is performed. During the limit state, a pulse command in the limit direction will be invalid. When performing a zero-return operation Limit is not monitored if the zero-return is incomplete or the zero-return is still in progress. 422
Page 1 and 2: M0007846 SANMOTION CLOSED LOOP STEP
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