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5. Type R Interface Command Code1913h Data Length1 byte Initial Movement Direction DAT No Function Setting rage Initial value Setting range DAT1 Initial movement direction 01 0 0 1 Defines the initialization method. As the PB system initializes the sensor counter when the power is turned on, operate the motor within slight angles. If it is not in STOP, interlock 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. The maximum Initial movement time is approximately 5s. Initialization movement error will occur if the load condition reaches mechanical limit or a power line connection error occurs. Command Code2014h Data Length4 bytes ALM Detection Condition DAT No Function Setting range Initial value Setting unit DAT1 Overload stop time 1Ch 8 1sLSB DAT23 Servo error detection 14FFFFh 1770h 1PULSEequivalent of 2000P/R threshold value DAT4 Enables or disables the ALM detection 01h 0Detection allowed(enabled) 1Detection prohibited (disabled) Sets the alarm detection conditions and enables or disables the alarm detection function. DAT1Sets the overload detection time when stopped before reaching the target position. DAT2 and DAT3Sets the servo error detection condition.Detected if DAT4, Bit20 DAT4Enables or disables the optional Alarm and Limit functions. DATA NO Bit7 Bit6 Bit5 Bit4 Bit3 Bit2 Bit1 Bit0 DAT1 Overload stop time DAT2 Deviation excess valuelower Byte DAT3 Deviation excess valuehigher Byte DAT4 SL- SL+ SE Push Wrap Overload stop ALM is not detected during push operation. DAT4 WRAP: Enables or disables ALM detection for Wrap Around (coordinate sign reversal). Select “1” (detection prohibited) to enable continuous operation in the same direction. PushEnables or disables alarm detection for an unloaded push (when the target position set by the movement distance is reached during the push operation). SE: Enables or disables the detection of a servo error in the case of excessive deviation. If enabled, the detection conditions set in DAT2, 3 are used. 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. 529
5. Type R Interface Command Code2216h Data Length19bytes Input and Output Port Function DAT No Function Setting range Initial value(hex) Setting unit DAT1 Input logic 0 Other than SELECT 0 On selection Active SELECT0Point 1PRG DAT2 Output logic 0 conn.On Active selection conn. DAT310 Input Port 015h 8,0,1,2,3,4,D,15 function DAT11 Output Port 029h 0,1,2,3,4,D,28,29,E 19 function Sets the input / output signal logic of CN1, and selects the function of the generic input / output signals. DATA NO Function Bit7 Bit6 Bit5 Bit4 Bit3 Bit2 Bit1 Bit0 DAT1 Input logic SEL STOP HL- HL+ DAT2 Output logic ZONE ALM DAT3 Input function Allocates functions to each CN1 input PortIN1IN8. 10 Functions are to be selected from Chart 1. DAT11 19 Output function Allocates functions to each CN1 output PortOut1Out9. Functions are to be selected from Chart 2. Points can be selected up to maximum of 128, but PEND output can be selected only up to 64 Points. When either of Out8 or 9 is selected for the encoder signal output, both Out 8 and 9 will be encoder output. The selected function remain valid for other cases. 530
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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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6Specifications (common)
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6. Basic Specificationscommon
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6. Basic Specificationscommon
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7. Options 7.2.3
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8. International Standards Conformi
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