Siepc88072511h 8 2

Machine Controller MP3000 Series
Motion Control
USER’S MANUAL
SVC/SVR, SVC32/SVR32
Basic Information on
Motion Control 1
Basic Information on Motion
Control Function Modules
2
Parameters for Motion Control 3
Motion Control Program
Commands and Instructions 4
Machine-Specific
Motion Control 5
Other Useful Functions 6
Making Settings for Motion
Control with the MPE720 7
Sample Programming 8
Stepping Motor Drive Operation 9
Inverter Operation 10
Appendices 11
MANUAL NO. SIEP C880725 11H

Copyright © 2011 YASKAWA ELECTRIC CORPORATION
All rights reserved. No part of this publication may be reproduced, stored in a
retrieval system, or transmitted, in any form, or by any means, mechanical, elec-
tronic, photocopying, recording, or otherwise, without the prior written permission
of Yaskawa. No patent liability is assumed with respect to the use of the informa-
tion contained herein. Moreover, because Yaskawa is constantly striving to
improve its high-quality products, the information contained in this manual is sub-
ject 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 control.
Read this manual carefully to ensure the correct usage of the Machine Controller and apply the
Machine Controller to control your manufacturing system.
Keep this manual in a safe place so that it can be referred to whenever necessary.
Outline of Manual
The contents of the chapters of this manual are described in the following table. Refer to the chap-
ters of this manual as required for your application.
Chapter Chapter Title Contents
Describes the types of programs and the type of motion control that
1 Basic Information on Motion Control
are used to perform motion control with the MP3000.
Basic Information on Motion Control Provides basic information on Motion Control Function Modules that
2
Function Modules are built into the MP3000.
3 Parameters for Motion Control Describes motion parameters required for motion control.
Describes the motion commands required to write ladder programs
Motion Control Program
4 and the motion language instructions required to write motion pro-
Commands and Instructions
grams.
Provides information and describes settings that are necessary to
5 Machine-Specific Motion Control
perform machine-specific motion control.
Describes convenient functions related to motion control that are
6 Other Useful Functions
provided by the MP3000.
Making Settings for Motion Control Describes how to confirm information and make settings for the
7
with the MPE720 Motion Control Function Module.
8 Sample Programming Provides sample programming for motion control.
Of the information that is necessary to perform motion control with a
9 Stepping Motor Drive Operation Stepping Motor Drive, provides the information that is different from
when a Servo Drive is connected.
Describes the operations, commands, and parameter settings that
10 Inverter Operation
are necessary to perform motion control with an Inverter.
11 Appendices Provides supplemental information related to motion control.
iii
Related Documents
 MP2000/MP3000 Series Related Manuals
The following table lists the manuals that are related to the MP2000/MP3000-series Machine Con-
trollers. Refer to these manuals as required.
Category Manual Name Manual Number Contents
Describes the functions of the
MP2000/MP3000-series Machine Con-
Machine Controller MP2000/MP3000 trollers and the procedures that are
Series Machine Controller System SIEP C880725 00 required to use the Machine Controller,
Setup Manual from installation and connections to
settings, programming, trial operation,
and debugging.
Describes troubleshooting an MP3000-
MP3200/MP3300 SIEP C880725 01
series Machine Controller.
Troubleshooting Manual
Provides an introduction to the
Basic func-
MP3000-series MP3100 Machine Con-
tionality
Machine Controller MP3000 Series SIEP C880725 24 troller, and it describes the appearance,
functionality, specifications, and infor-
mation required to set up the MP3100.
Describes the specifications and sys-
Machine Controller MP3000 Series tem configuration of the Basic Units in
SIEP C880725 10
MP3200 User’s Manual an MP3000-series Machine Controller
and the functions of the CPU Unit.
Describes the specifications and sys-
Machine Controller MP3000 Series tem 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
Communica- configuration, and communications
tions func- SIEP C880725 12 connection methods for the Ethernet
Communications User’s Manual
tionality communications that are used with an
MP3000-series Machine Controller.
Describes the functions, specifica-
Machine Controller MP2000 Series tions, and operating methods of the
SIEP C880700 32
SVA-01 Motion Module User’s Manual MP2000-series SVA-01 Motion Mod-
ule.
Built-in SVB/SVB-01 Motion Module SIEP C880700 33 MP2000-series Motion Module (built-in
Motion con- User’s Manual Function Modules: SVB, SVB-01, and
trol function- SVR).
ality
SIEP C880700 41
SVC-01 Motion Module User’s Manual MP2000-series SVC-01 Motion Mod-
ule.
Machine Controller MP2000 Series Describes the functions, specifica-
Pulse Output Motion Module PO-01 SIEP C880700 28 tions, and operating methods of the
User’s Manual MP2000-series PO-01 Motion Module.
Continued on next page.
iv
Continued from previous page.
Category Manual Name Manual Number Contents
Describes the ladder programming
SIEP C880725 13 specifications and instructions of
Ladder Programming Manual
MP3000-series Machine Controller.
Describes the motion programming
Machine Controller MP3000 Series and sequence programming specifica-
SIEP C880725 14
Program- Motion Programming Manual tions and instructions of MP3000-
ming series 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 Describes the instructions used in
SIEP C880700 38
User’s Manual for Motion Programming MP2000 motion programming.
tions, operating methods, and MECHA-
MECHATROLINK-III Compatible I/O
SIEP C880781 04 TROLINK-III communications for the
MECHA- Module User’s Manual
Remote I/O Modules for MP2000/
TROLINK MP3000-series Machine Controllers.
I/O
Machine Controller MP900/MP2000 Describes MECHATROLINK distrib-
Series Distributed I/O Module SIE-C887-5.1 uted I/O for MP900/MP2000-series
User’s Manual, MECHATROLINK System Machine Controllers.
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
v
Using this Manual
 Basic Terms
Unless otherwise specified, the following definitions are used:
• Machine Controller: MP3000-series Machine Controller or MP2000-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
• MP3000: A generic name for the MP3100, MP3200, and MP3300.
• 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.
• SVC Function Module: A generic name for the SVC and SVC32.
• SVR Function Module: A generic name for the SVR and SVR32.
 Engineering Tools Used in This Manual

In this manual, the operation is described using MPE720 screen captures.
 Trademarks
• QR code is a trademark of Denso Wave Inc.
• MECHATROLINK is a trademark of the MECHATROLINK Members Association.
• Ethernet is a registered trademark of the Xerox Corporation.
• Other product names and company names are the trademarks or registered trademarks of the
respective company. “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.

Indicates alarm displays and other precautions that will not result in machine damage.
Important
Indicates definitions of difficult terms or terms that have not been previously explained in this manual.
Term
Example Indicates operating or setting examples.
Information Indicates supplemental information to deepen understanding or useful information.
vi
Safety Precautions
 Safety Information
To prevent personal injury and equipment damage in advance, the following signal words are used
to indicate safety precautions in this document. The signal words are used to classify the hazards
and the degree of damage or injury that may occur if a product is used incorrectly. Information
marked as shown below is important for safety. Always read this information and heed the precau-
tions that are provided.
DANGER
 Indicates precautions that, if not heeded, are likely to result in loss of life, serious injury, or fire.
WARNING
 Indicates precautions that, if not heeded, could result in loss of life, serious injury, or fire.
CAUTION
 Indicates precautions that, if not heeded, could result in relatively serious or minor injury, or in
fire.
NOTICE
 Indicates precautions that, if not heeded, could result in property damage.
vii
 Safety Precautions That Must Always 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 product 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 product.
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 product in any way.
There is a risk of injury or device damage.
 Storage Precautions
CAUTION
 Hold onto the main body of the product when transporting it.
Holding the cables or connectors may damage them or result in injury.
 Do not overload the product during transportation. (Follow all instructions.)
There is a risk of injury or an accident.
 Never subject the product 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 min-
utes 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.
NOTICE
 Do not install or store the product in any of the following locations.
• Locations that are subject to direct sunlight
• Locations that are subject to ambient temperatures that exceed product specifications
• Locations that are subject to relative humidities that exceed product specifications
• Locations that are subject to condensation as the result of extreme changes in temperature
• Locations that are subject to corrosive or flammable gases
• Locations that are near flammable materials
• Locations that are subject to dust, salts, or iron powder
• Locations that are subject to water, oil, or chemicals
• Locations that are subject to vibration or shock that exceeds product specifications
If you store or install the product in any of the above locations, the product may fail or be damaged.
viii
 Installation Precautions
CAUTION
 Never install the product in an atmosphere containing halogen (fluorine, chlorine, bromine, or
iodine).
There is a risk of malfunction or damage.
 Do not step on the product or place heavy objects on the product.
There is a risk of injury or an accident.
 Do not block the air exhaust ports on the product. Do not allow foreign objects to enter the
product.
There is a risk of internal element deterioration, malfunction, or fire.
 Always mount the product in the specified orientation.
There is a risk of malfunction.
 Leave the specified amount of space between the product, and the interior surface of the con-
trol panel and other devices.
There is a risk of fire or malfunction.
 Do not subject the product 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.
NOTICE
 Do not install or store the product in any of the following locations.
• Locations that are subject to direct sunlight
• Locations that are subject to ambient temperatures that exceed product specifications
• Locations that are subject to relative humidities that exceed product specifications
• Locations that are subject to condensation as the result of extreme changes in temperature
• Locations that are subject to corrosive or flammable gases
• Locations that are near flammable materials
• Locations that are subject to dust, salts, or iron powder
• Locations that are subject to water, oil, or chemicals
• Locations that are subject to vibration or shock that exceeds product specifications
• Locations near devices that generate strong magnetic fields
• Locations that are subject to radiation
If you store or install the product in any of the above locations, the product may fail or be damaged.
ix
 Wiring Precautions
DANGER
 Do not change any wiring while power is being supplied.
There is a risk of electric shock or injury.
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 product 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
 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 oper-
ation 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 product.
There is a risk of injury or device damage.
 If you use MECHATROLINK I/O Modules, use the establishment of MECHATROLINK communi-
cations as an interlock output condition.
 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 product 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 Precautions
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 product to ensure safety in
the overall system even if the following conditions occur.
• Product failure or errors caused by external factors
• Shutdown of operation due to product detection of an error in self-diagnosis and the subsequent
turning OFF or holding of output signals
• Holding of the ON or OFF status of outputs from the product due to fusing or burning of output relays
or damage to output transistors
• Voltage drops from overloads or short-circuits in the 24-V output from the product and the subse-
quent inability to output signals
• Unexpected outputs due to errors in the power supply, I/O, or memory that cannot be detected by
the product 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
5.2.6 Position Management Method for Each Machine Operation Type − Finite-length Operation (page 5-
26)
• Parameters for simple absolute infinite-length position control when the axis type is set to an infinite-
length axis
5.2.6 Position Management Method for Each Machine Operation Type − Infinite-length Operation (page 5-
31)
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 product
is operating.
There is a risk of machine damage or an accident.
 Maintenance and Inspection Precautions
DANGER
There is a risk of electric shock or injury.
CAUTION
 Do not attempt to disassemble or repair the product.
 Suitable battery replacement must be performed and it must be performed only by an experi-
enced technician.
 Replace the Battery only while power is supplied to the product.
Replacing the Battery while the power supply to the product is turned OFF may result in loss of the
data stored in memory in the product.
 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.
xi
 Disposal Precautions
 When disposing of the product, treat it as ordinary industrial waste. However, local ordinances
and national laws must be observed. Implement all labeling and warnings for the final product
as required.
 Other General Precautions
 Figures provided in this manual are typical examples or conceptual representations. There may
be differences between them and actual wiring, circuits, and products.
 The products shown in illustrations in this manual are sometimes shown with their covers or
protective guards removed to illustrate detail. Always replace all covers and protective guards
before you use the product.
 If you need a new copy of this document because it has been lost or damaged, contact your
nearest Yaskawa representative or one of the offices listed on the back of this manual.
 This manual is subject to change without notice for product improvements, specifications
changes, and improvements to the manual itself.
We will update the document number of the manual and issue revisions when changes are
made.
 Any and all quality guarantees provided by Yaskawa are null and void if the customer modifies
the product in any way. Yaskawa disavows any responsibility for damages or losses that are
caused by modified products.
xii
Warranty
 Details of Warranty
 Warranty Period
The warranty period for a product that was purchased (hereinafter called the “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 above warranty period.
This warranty does not cover defects caused by the delivered product reaching the end of its ser-
vice 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 catalogs or manuals, or in any separately agreed-upon specifications
• Causes not attributable to the delivered product itself
• Modifications or repairs not performed by Yaskawa
• Use 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 program-
mable Yaskawa products.
• The information described in product catalogs or manuals is provided for the purpose of the cus-
tomer purchasing 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 prop-
erty rights or other proprietary rights of third parties as a result of using the information described
in catalogs or manuals.
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 specifica-
tions, 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, medical equipment, amusement machines, and installations subject to sep-
arate 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 reference. 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 prevent 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 edi-
tions 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
Outline of Manual . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . iii
Related Documents . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . iv
Using this Manual . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . vi
Safety Precautions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . vii
Warranty . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . xiii
Basic Information on Motion Control

1
1.1 Types of Programs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-2
1.2 Types of Motion Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-3

1.2.1 Position Control. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-3
1.2.2 Phase Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-4
1.2.3 Torque Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-4
1.2.4 Speed Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-4
Basic Information on Motion Control Function Modules

2
2.1 Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-3
2.1.1 SVC Function Module . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-3
2.1.2 SVR Function Module . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-3
2.1.3 Conceptual Diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-4
2.1.4 External Appearance and Indicators . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-5
2.2 Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-6

2.2.1 Differences in Motion Control Function Module Specifications . . . . . . . . . . 2-6
2.2.2 MECHATROLINK-III Communications Specifications
for the SVC Function Module . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-7
2.2.3 SVC Function Module Specifications. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-8
2.2.4 SVR Function Module Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-10
2.2.5 Applicable Versions for Additional Functions . . . . . . . . . . . . . . . . . . . . . . . 2-11
2.3 System Configuration Example . . . . . . . . . . . . . . . . . . . . . . . . 2-12
2.4 Topologies . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-14

2.4.1 Cascade Connections . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-14
2.4.2 Star Connections. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-15
2.4.3 Mixed Cascade/Star Connections . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-16
2.5 MECHATROLINK Transmission Cycle and the Number of Connected Slave Stations . . 2-17
2.6 Synchronization of the MECHATROLINK-III Transmission Cycle and High-Speed Scan Cycle . . 2-19
2.6.1 Synchronization Conditions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-19
2.6.2 Timing at Which the MECHATROLINK Transmission Cycle
and the High-speed Scan Cycle Are Synchronized . . . . . . . . . . . . . . . . . . 2-19
2.6.3 Changing Synchronization Cycles . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-19
2.6.4 Reference Output Timing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-20
2.6.5 Precautions When Combining with Other Modules . . . . . . . . . . . . . . . . . . 2-21
xv
Parameters for Motion Control
3
3.1 Types of Motion Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-2
3.2 Motion Parameter Registers . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-3
3.3 Motion Parameter Tables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-7

3.3.1 Fixed Parameter Table . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3-7
3.3.2 Setting Parameter Table . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3-10
3.3.3 Monitor Parameter Table . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3-18
3.4 Motion Parameter Details. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-27

3.4.1 Fixed Parameter Details . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3-27
3.4.2 Setting Parameter Details . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3-36
3.4.3 Monitor Parameter Details . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3-69
3.5 Automatically Updated Parameters . . . . . . . . . . . . . . . . . . . . . 3-89

3.5.1 Automatically Updated Parameters When a MECHATROLINK Connection
Is Established . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3-89
3.5.2 Automatically Updated Parameters When a Setting Parameter
Is Changed . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3-91
3.5.3 Automatically Updated Parameters When a Motion Command
Is Executed . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3-92
3.5.4 Parameters Automatically Updated during Self Configuration . . . . . . . . . .3-93
Motion Control Program Commands and Instructions

4
4.1 Commands . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-3
4.1.1 Motion Commands . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .4-3
4.1.2 Motion Subcommands . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .4-6
4.2 Motion Command Details . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-7

4.2.1 NOP (No Operation) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .4-7
4.2.2 POSING (Positioning) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .4-7
4.2.3 EX_POSING (External Positioning) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .4-14
4.2.4 ZRET (Zero Point Return) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .4-21
4.2.5 INTERPOLATE (Interpolation) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .4-43
4.2.6 LATCH (Interpolate with Latch Input) . . . . . . . . . . . . . . . . . . . . . . . . . . . . .4-47
4.2.7 FEED (Jog) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .4-51
4.2.8 STEP (STEP Operation) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .4-56
4.2.9 ZSET (Set Zero Point) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .4-61
4.2.10 ACC (Change Acceleration Time) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .4-63
4.2.11 DCC (Change Deceleration Time) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .4-65
4.2.12 SCC (Change Filter Time Constant) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .4-67
4.2.13 CHG_FILTER (Change Filter Type) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .4-69
4.2.14 KVS (Change Speed Loop Gain) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .4-71
4.2.15 KPS (Change Position Loop Gain) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .4-73
4.2.16 KFS (Change Feedforward). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .4-75
4.2.17 PRM_RD (Read SERVOPACK Parameter) . . . . . . . . . . . . . . . . . . . . . . . . . .4-77
4.2.18 PRM_WR (Write SERVOPACK Parameter) . . . . . . . . . . . . . . . . . . . . . . . . .4-79
4.2.19 ALM_MON (Monitor Alarms) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .4-81
4.2.20 ALM_HIST (Monitor Alarm History) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .4-83
4.2.21 ALMHIST_CLR (Clear Alarm History) . . . . . . . . . . . . . . . . . . . . . . . . . . . . .4-85
4.2.22 ABS_RST (Reset Absolute Encoder) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .4-87
4.2.23 VELO (Issue Speed Reference) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .4-90
xvi
4.2.24 TRQ (Issue Torque/Force Reference) . . . . . . . . . . . . ... .... ... .... .. . 4-95
4.2.25 PHASE (Issue Phase Reference) . . . . . . . . . . . . . . . ... .... ... .... .. 4-100
4.2.26 KIS (Change Position Loop Integral Time Constant) ... .... ... .... .. 4-104
4.2.27 PPRM_WR (Write Non-volatile Parameter) . . . . . . . . ... .... ... .... .. 4-106
4.2.28 EX_FEED (Jog with External Positioning) . . . . . . . . . ... .... ... .... .. 4-108
4.2.29 MEM_RD (Read Memory) . . . . . . . . . . . . . . . . . . . . ... .... ... .... .. 4-114
4.2.30 MEM_WR (Write Memory) . . . . . . . . . . . . . . . . . . . . ... .... ... .... .. 4-116
4.2.31 PMEM_RD (Read Non-volatile Memory) . . . . . . . . . ... .... ... .... .. 4-118
4.2.32 PMEM_WR (Write Non-volatile Memory) . . . . . . . . . ... .... ... .... .. 4-120
4.2.33 MLTTRN_SET (Multiturn Limit Setting) . . . . . . . . . . . ... .... ... .... .. 4-122
4.3 Motion Subcommand Details . . . . . . . . . . . . . . . . . . . . . . . . . 4-125

4.3.1 NOP (No Operation). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-125
4.3.2 PRM_RD (Read SERVOPACK Parameter) . . . . . . . . . . . . . . . . . . . . . . . . 4-126
4.3.3 PRM_WR (Write SERVOPACK Parameter) . . . . . . . . . . . . . . . . . . . . . . . . 4-128
4.3.4 INF_RD (Read Device Information) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-130
4.3.5 SMON (Monitor Status) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-132
4.3.6 FIXPRM_RD (Read Fixed Parameter) . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-134
4.3.7 FIXPRM_CHG (Change Fixed Parameter) . . . . . . . . . . . . . . . . . . . . . . . . 4-136
4.3.8 MEM_RD (Read Memory) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-138
4.3.9 MEM_WR (Write Memory) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-140
4.4 Changing the Command. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-142

4.4.1 Motion Command and Subcommand Execution Judgment Table . . . . . . 4-142
4.4.2 Operation after Changing the Motion Command . . . . . . . . . . . . . . . . . . . 4-147
4.5 Motion Language Instructions . . . . . . . . . . . . . . . . . . . . . . . . 4-193
Machine-Specific Motion Control

5
5.1 Motion Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-3
5.1.1 Reference Unit. . . . . . . . . . . . . . . . . . . . . . ... .... ... .... ... .... ... . 5-3
5.1.2 Electronic Gear . . . . . . . . . . . . . . . . . . . . . ... .... ... .... ... .... ... . 5-3
5.1.3 Axis Selection . . . . . . . . . . . . . . . . . . . . . . ... .... ... .... ... .... ... . 5-5
5.1.4 Position References. . . . . . . . . . . . . . . . . . ... .... ... .... ... .... ... . 5-6
5.1.5 Speed References . . . . . . . . . . . . . . . . . . . ... .... ... .... ... .... ... . 5-9
5.1.6 Acceleration/Deceleration Settings . . . . . . ... .... ... .... ... .... ... 5-11
5.1.7 Acceleration/Deceleration Filter Settings . . ... .... ... .... ... .... ... 5-14
5.1.8 Linear Scale Pitch and Rated Speed . . . . . ... .... ... .... ... .... ... 5-15
5.2 Absolute Encoders . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-17

5.2.1 Absolute Position Detection . . . . . . . . . . . . . . . . . . . . . . . . . . . . .... ... 5-17
5.2.2 Absolute Encoder System Startup . . . . . . . . . . . . . . . . . . . . . . . . .... ... 5-18
5.2.3 Resetting the Absolute Encoder . . . . . . . . . . . . . . . . . . . . . . . . . .... ... 5-20
5.2.4 Using the SERVOPACK to Reset the Absolute Encoder. . . . . . . . .... ... 5-24
5.2.5 Reading Position Data When the Power Supply Is Turned ON . . . .... ... 5-25
5.2.6 Position Management Method for Each Machine Operation Type .... ... 5-26
5.3 Multiturn Limit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-47

5.3.1 Check Items before Setup . . . . . . . . . . . . . . . . . . . . . . . .... ... .... ... 5-47
5.3.2 Setting Procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .... ... .... ... 5-47
5.3.3 Programming Example . . . . . . . . . . . . . . . . . . . . . . . . . .... ... .... ... 5-49
5.3.4 Related Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . .... ... .... ... 5-51
5.3.5 Multiturn Limit Setting Disagreement Detection Timing . .... ... .... ... 5-51
5.3.6 Checking for a Multiturn Limit Setting Disagreement . . . .... ... .... ... 5-51
5.3.7 Clearing the Warning . . . . . . . . . . . . . . . . . . . . . . . . . . . .... ... .... ... 5-52
xvii
5.4 Absolute Encoders with 24-Bit Resolution . . . . . . . . . . . . . . . 5-53
5.4.1 Encoder with 24-Bit Resolution and Electronic Gear Ratio Settings . . . . . .5-53
5.4.2 Self Configuration and Encoder Resolution . . . . . . . . . . . . . . . . . . . . . . . .5-54
5.4.3 Possible Travel Distances and Deceleration Times for the MP3000 . . . . . .5-55
Other Useful Functions

6
6.1 Controlling Vertical Axes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-3
6.1.1 SERVOPACK Holding Brake . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .6-3
6.1.2 Connecting to a Σ-V or Σ-7 Servo Drive . . . . . . . . . . . . . . . . . . . . . . . . . . . .6-4
6.2 Overtravel . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-6

6.2.1 Overtravel Input Signal Connections . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .6-6
6.2.2 Parameter Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .6-7
6.3 Software Limits. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-9

6.3.1 Software Limit Parameter Selection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .6-9
6.3.2 Related Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .6-10
6.3.3 Comparison with the MP2000-series SVC-01 Module . . . . . . . . . . . . . . . .6-10
6.3.4 The Effects of Software Limits . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .6-11
6.3.5 Processing after an Alarm Occurs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .6-11
6.4 Modal Latching. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-12

6.4.1 Latch Request . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .6-12
6.4.2 Canceling a Latch Request. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .6-12
6.4.3 Latch Signals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .6-12
6.4.4 Related Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .6-12
6.5 Waiting for Slave Detection with the SVC Function Module . . 6-14
6.5.1 Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .6-14
6.5.2 Applicable Versions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .6-14
6.5.3 Operating Procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .6-15
6.5.4 Timing to Complete Slave Detection. . . . . . . . . . . . . . . . . . . . . . . . . . . . . .6-16
6.5.5 Indicators When the Power Is Turned ON . . . . . . . . . . . . . . . . . . . . . . . . . .6-17
6.5.6 Precautions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .6-17
6.6 Slave CPU Synchronization . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-18

6.6.1 Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .6-18
6.6.2 Applicable Versions and Execution Conditions . . . . . . . . . . . . . . . . . . . . . .6-19
6.6.3 Setting Procedure. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .6-20
6.6.4 I/O Registers . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .6-24
6.6.5 Execution Flow for Slave CPU Synchronization . . . . . . . . . . . . . . . . . . . . .6-25
6.6.6 Procedure to Turn ON Power . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .6-26
6.6.7 Confirmation That the Slave CPU Is Synchronized . . . . . . . . . . . . . . . . . . .6-26
6.6.8 Handling Input Errors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .6-27
6.6.9 Effect on Application Program . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .6-28
6.6.10 Operation of Slave MP3000 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .6-29
6.6.11 Precautions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .6-30
6.7 Multiturn Limit Setting Disagreement Detection . . . . . . . . . . . 6-31

6.7.1 Applicable Versions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .... ... .... .6-31
6.7.2 Related Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .... ... .... .6-32
6.7.3 Multiturn Limit Setting Disagreement Detection Timing . . . .... ... .... .6-32
6.7.4 Checking for a Multiturn Limit Setting Disagreement . . . . . .... ... .... .6-32
6.7.5 Clearing the Warning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .... ... .... .6-32
xviii
6.8 Precautions When Using Σ-7-series SERVOPACKs . . . . . . . . . 6-34
6.8.1 MP3000 Versions That Support the Σ-7-series SERVOPACKs . . . . . . . . . . 6-34
6.8.2 Σ-7-series SERVOPACK Electronic Gear Ratio and MP3000 Settings . . . . 6-35
6.8.3 Link Assignments . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-36
6.8.4 Number of Pulses Per Motor Rotation . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-36
6.8.5 Self Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-36
6.8.6 Operating Specifications When Using an MP3000 Controller
That Supports the Σ-7-series SERVOPACKs . . . . . . . . . . . . . . . . . . . . . . . 6-37
6.8.7 Operating Specifications When Using an MP3000 Controller
That Does Not Support the Σ-7-series SERVOPACKs . . . . . . . . . . . . . . . . 6-39
Making Settings for Motion Control with the MPE720

7
7.1 Module Configuration Settings . . . . . . . . . . . . . . . . . . . . . . . . . 7-2
7.1.1 Settings for Motion Control Function Modules . . . . . . . . . . . . . . . . . . . . . . 7-2
7.1.2 Deleting Unused Motion Control Function Modules. . . . . . . . . . . . . . . . . . . 7-5
7.2 MECHATROLINK Communications Settings . . . . . . . . . . . . . . . 7-7

7.2.1 Displaying the MECHATROLINK Detail Definition Dialog Box . . . . . . . . . . . 7-7
7.2.2 MECHATROLINK Detail Definition Dialog Box Details . . . . . . . . . . . . . . . . . 7-8
7.3 Setting Motion Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-19

7.3.1 Displaying and Setting Motion Parameters . . . . . . . . . . . . . . . . . . . . . . . . 7-19
7.3.2 Precautions after Making Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-22
7.4 SERVOPACK Parameter Data Flow . . . . . . . . . . . . . . . . . . . . . 7-23

7.4.1 When the Power Supply Is Turned ON . . . . . . . ..................... 7-23
7.4.2 Normal Operation . . . . . . . . . . . . . . . . . . . . . . ..................... 7-24
7.4.3 When the SERVOPACK Tab Page Is Opened . . ..................... 7-24
7.4.4 When SERVOPACK Parameters Are Saved . . . ..................... 7-25
7.4.5 When Saving Data to Flash Memory . . . . . . . . ..................... 7-25
Sample Programming
8
8.1 One Axis Positioning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-2
8.1.1 Machine Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-2
8.1.2 Related Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-2
8.1.3 Sample Programming . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-3
8.2 Interpolation of Two Axes. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-6

8.2.2 Related Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-7
8.2.3 Sample Programming . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-8
8.3 Torque Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-9

8.3.2 Related Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-9
8.3.3 Sample Programming . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-10
8.4 Phase Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-11

8.4.1 Machine Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-11
8.4.2 Related Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-12
8.4.3 Sample Programming . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-13
xix
Stepping Motor Drive Operation
9
9.1 Connection Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-2
9.2 Motion Parameter Table . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-3

9.2.1 Fixed Parameter Table . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .9-3
9.2.2 Setting Parameter Table . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .9-7
9.2.3 Monitor Parameter Table . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .9-16
9.3 Link Assignments . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-25
9.4 Common Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-26
Inverter Operation
10
10.1 Connection Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10-2
10.2 Parameters for Inverter Operation . . . . . . . . . . . . . . . . . . . . . . 10-3

10.2.1 Types of Motion Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .10-3
10.2.2 Motion Parameter Registers . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .10-3
10.2.3 Motion Parameter Details . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .10-4
10.3 Main Commands and Subcommands . . . . . . . . . . . . . . . . . . 10-33

10.3.1 List of Commands . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10-33
10.3.2 Command Details . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10-35
10.3.3 Applicable Combinations of Main Commands and Subcommands. . . . . . 10-49
10.4 Precautions for Inverter Operation. . . . . . . . . . . . . . . . . . . . . 10-50
10.5 Setup Procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10-55

10.5.1 Check Items before Setup . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10-55
10.5.2 Inverter Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10-56
10.5.3 I/O Options . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10-64
10.6 Alarm and Warning Codes for Inverter . . . . . . . . . . . . . . . . . . 10-66

10.6.1 A1000 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10-66
10.6.2 V1000 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10-70
Appendices
11
11.1 Control Block Diagrams . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-2
11.1.1 Control Block Diagram for Position Control . . . . . . . . . . . . . . . . . . . . . . . .11-2
11.1.2 Control Block Diagram for Phase Control . . . . . . . . . . . . . . . . . . . . . . . . . .11-4
11.1.3 Control Block Diagram for Torque Control . . . . . . . . . . . . . . . . . . . . . . . . .11-6
11.1.4 Control Block Diagram for Speed Control. . . . . . . . . . . . . . . . . . . . . . . . . .11-8
11.2 System Registers . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-10

11.2.1 System Service Registers . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-10
11.2.2 Scan Execution Status and Calendar . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-12
11.2.3 System Program Software Numbers
and Remaining Program Memory Capacity . . . . . . . . . . . . . . . . . . . . . . . 11-12
xx
11.3 MECHATROLINK-III I/O Module Settings . . . . . . . . . . . . . . . . 11-13
11.3.1 Link Assignment Tab Page Settings. . . . . . . . . . . .. ... .... ... .... .. 11-13
11.3.2 I/O Register Configuration . . . . . . . . . . . . . . . . . . .. ... .... ... .... .. 11-14
11.3.3 I/O Commands . . . . . . . . . . . . . . . . . . . . . . . . . . .. ... .... ... .... .. 11-15
11.3.4 I/O Command Details . . . . . . . . . . . . . . . . . . . . . .. ... .... ... .... .. 11-16
11.3.5 Command Control . . . . . . . . . . . . . . . . . . . . . . . . .. ... .... ... .... .. 11-32
11.3.6 Master Status . . . . . . . . . . . . . . . . . . . . . . . . . . . .. ... .... ... .... .. 11-32
11.3.7 Command Status. . . . . . . . . . . . . . . . . . . . . . . . . .. ... .... ... .... .. 11-33
11.3.8 CPU STOP Operation . . . . . . . . . . . . . . . . . . . . . .. ... .... ... .... .. 11-35
11.4 Setting Fixed Parameters According to Encoder Type and Axis Type . . 11-36
11.5 Common Parameters and SERVOPACK Parameters . . . . . . . 11-38
11.6 Terminology . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-40
Index
Revision History
xxi
Basic Information on
Motion Control
1
This chapter describes the types of programs and the
types of motion control that are used to perform motion
control with the MP3000.
1.1 Types of Programs . . . . . . . . . . . . . . . . . . . 1-2
1.2 Types of Motion Control . . . . . . . . . . . . . . . 1-3

1.2.1 Position Control . . . . . . . . . . . . . . . . . . . . . . . . . 1-3
1.2.2 Phase Control . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-4
1.2.3 Torque Control . . . . . . . . . . . . . . . . . . . . . . . . . . 1-4
1.2.4 Speed Control . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-4
1.1 Types of Programs
1.1 Types of Programs

Ladder programs and motion programs are used to implement motion control. This section
describes each type of program.
Ladder Programs
Ladder programming is a programming language for executing position control, phase control,
torque control, and speed control. However, programming becomes complex if you try to use
ladder programs for path control.
Motion Programs
Motion programming is a programming language for executing position control. Motion pro-
grams allow you to create programs in a simple and easy-to-understand text format.
1-2
1.2 Types of Motion Control
1.2.1 Position Control

Motion control includes position control, phase control, torque control, and speed control. This
section describes each type of motion control.
1.2.1 Position Control

To implement position control, the target axis is moved to the target position according to the
specified travel distance and travel speed. There are two types of position control: positioning
and interpolation.
Positioning
Positioning is used to accurately stop the target axis at the target position. Positioning can be
performed for individual axes. When positioning commands are executed for multiple axes at
the same time, each axis is moved from the current position and stopped at the specified tar-
get position independently.
The following table describes programming for positioning.
Reference
Program Command/Instruction
Programming Command/Instruction
Basic Information on Motion Control

POSING (Positioning), Ladder Programming Manual (Manual
Ladder 4.1 Commands on
EX_POSING (External No.: SIEP C880725 13) page 4-3
program Positioning), etc.
8.1 One Axis Positioning on page 8-2
MOV (Positioning), Motion Programming Manual (Manual 4.5 Motion Language
Motion
EXM (External Posi- No.: SIEP C880725 14) Instructions on page
program 4-193
tioning), etc.
8.1 One Axis Positioning on page 8-2
Interpolation
Interpolation synchronizes the operation of multiple axes to move the controlled object along a
specified trajectory to a target position. The target object can be moved in a linear, circular, or
helical trajectory.
Interpolation can also be performed for a single axis. 1
The following table describes programming for interpolation.
Reference
Ladder INTERPOLATE (Inter- Machine Controller MP3000 Series
4.1 Commands on
Ladder Programming Manual (Manual
program polation) page 4-3
No.: SIEP C880725 13)
MVS (Linear Interpola-
tion), MCW (Clockwise Motion Programming Manual (Manual
Motion Circular Interpolation), 4.5 Motion Language
No.: SIEP C880725 14) Instructions on page
program MCC (Counterclock- 4-193
8.2 Interpolation of Two Axes on page
wise Circular Interpola- 8-6
tion), etc.
1-3
1.2.2 Phase Control
1.2.2 Phase Control

Phase control is used to synchronize multiple axes and move a machine along a specified path.
It enables continuous motion without stopping at target positions, in the same way as an elec-
tronic cam or electronic shaft. The continuous nature of the operation is what distinguishes
phase control from position control performed with interpolation.
The following table describes programming for phase control.
Reference
Ladder PHASE (Phase Con- Ladder Programming Manual (Manual 4.1 Commands on
program trol) No.: SIEP C880725 13) page 4-3
8.4 Phase Control on page 8-11
1.2.3 Torque Control

Torque control is used to ensure that the output of the motor is always at a specified torque (or
force).
The following table describes programming for torque control.
Reference
Ladder TRQ (Issue Torque/ Ladder Programming Manual (Manual 4.1 Commands on
program Force Reference) No.: SIEP C880725 13) page 4-3
8.3 Torque Control on page 8-9
1.2.4 Speed Control

Speed control is used to move an axis at a specified speed.
The following table describes programming for speed control.
Reference
VELO (Speed Refer-
ence), FEED (Jog- Machine Controller MP3000 Series
Ladder 4.1 Commands on
ging), EX_FEED (Jog Ladder Programming Manual (Manual
page 4-3
program No.: SIEP C880725 13)
mode with external
positioning), etc.
1-4
Basic Information
on Motion Control
Function Modules
2
This chapter provides basic information on the Motion Control
Function Modules that are built into the MP3000.
2.1 Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-3

2.1.1 SVC Function Module . . . . . . . . . . . . .... ... .. 2-3
2.1.2 SVR Function Module . . . . . . . . . . . . .... ... .. 2-3
2.1.3 Conceptual Diagram . . . . . . . . . . . . . .... ... .. 2-4
2.1.4 External Appearance and Indicators . .... ... .. 2-5
2.2 Specifications . . . . . . . . . . . . . . . . . . . . . . . 2-6

2.2.1 Differences in Motion Control Function Module
Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-6
2.2.2 MECHATROLINK-III Communications
Specifications for the SVC Function Module . . . . 2-7
2.2.3 SVC Function Module Specifications . . . . . . . . . 2-8
2.2.4 SVR Function Module Specifications . . . . . . . . 2-10
2.2.5 Applicable Versions for Additional Functions . . 2-11
2.3 System Configuration Example . . . . . . . . . 2-12
2.4 Topologies . . . . . . . . . . . . . . . . . . . . . . . . . 2-14

2.4.1 Cascade Connections . . . . . . . . . . . . . . . . . . . . 2-14
2.4.2 Star Connections . . . . . . . . . . . . . . . . . . . . . . . 2-15
2.4.3 Mixed Cascade/Star Connections . . . . . . . . . . . 2-16
2.5 MECHATROLINK Transmission Cycle and the Number of Connected Slave Stations . . 2-17
2.6 Synchronization of the MECHATROLINK-III Transmission Cycle and High-Speed Scan Cycle . .2-19
2.6.1 Synchronization Conditions . . . . . . . . . . . . . . . 2-19
2.6.2 Timing at Which the MECHATROLINK
Transmission Cycle and the High-speed Scan
Cycle Are Synchronized . . . . . . . . . . . . . . . . . . 2-19
2.6.3 Changing Synchronization Cycles . . . . . . . . . . .2-19
2.6.4 Reference Output Timing . . . . . . . . . . . . . . . . . .2-20
2.6.5 Precautions When Combining
with Other Modules . . . . . . . . . . . . . . . . . . . . . .2-21
2.1 Overview
2.1.1 SVC Function Module
2.1 Overview
The following two Motion Control Function Modules are built into the MP3000.
• SVC/SVC32
• SVR/SVR32
This section outlines the motion control function, provides a conceptual diagram, and
describes the external appearance and indicators on the MP3000.
2.1.1 SVC Function Module

The SVC Function Module performs motion control for MECHATROLINK-III slave devices that
are connected through MECHATROLINK-III communications from the MP3000. The main slave
devices are SERVOPACKs, Distributed I/O Modules, Inverters, and Stepping Motor Drives.
2.1.2 SVR Function Module

The SVR Function Module performs motion control for virtual axes, i.e., it is not actually con-
nected to motors. It performs motion control that synchronizes physical axes with simulated
control of virtual mechanisms such as electronic cams or electronic shafts. You can also use a
motion program to apply control that was executed by the SVR Function Module to multiple
axes to perform multi-axis synchronized control.
The SVR Function Module executes processes at the beginning of the high-speed scan. SVR
processing is executed 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 H drawing SVR H drawing SVR H drawing
High-speed scan
The results of the H drawing The results of SVR processing

are executed in SVR processing can be monitored in processing
in the next scan. in the H drawing in the same scan.
2
When fixed parameter No. 0 (Operation Mode Selection) is set to 0 (Normal operation mode),
processing starts for the virtual axes in the SVR Function Module (32 virtual axes max.). The
default for the Operation Mode Selection parameter is 1 (Axis unused).
Approximate processing times per axis for the SVR Function Module 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.
2-3
2.1 Overview
2.1.3 Conceptual Diagram
Differences between the SVR Function Module and Simulation Mode with the SVC Function
Module
Due to the following differences between the SVR Function Module and Simulation Mode with the
Term SVC Function Module, we recommend that you use the SVR Function Module for the virtual mas-
ter to create master axis operating patterns.
• Simulation Mode with SVC Function Module

Simulation Mode allows you to simulate the same movements within the SVC Function Module
as when connected to a physical Servo Drive. Position information is updated every scan in the
same way as an SVR Function Module. 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 Function Module
Because the positioning function of the MP3000 distributes the reference, position information is
updated each scan toward the final target position, just as it would be for a physical axis.
2.1.3 Conceptual Diagram

A conceptual diagram of the Motion Control Function Modules with the MP3000 is provided below.
MP3000
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
2-4
2.1 Overview
2.1.4 External Appearance and Indicators
2.1.4 External Appearance and Indicators
External Appearance
The following figure shows the indicators and connectors that are related to the SVC32.
Indicators (LEDs)
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 information.
Indicator
Indicator Color Meaning When Lit
Name
MECHATROLINK-III communications are established as a
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.
2-5
2.2 Specifications
2.2.1 Differences in Motion Control Function Module Specifications
2.2 Specifications
This section provides the specifications of each Motion Control Function Module and the spec-
ifications of the MECHATROLINK-III communications used with the SVC Function Module.
2.2.1 Differences in Motion Control Function Module Specifi-

cations
The differences in specifications between MP3000-series Motion Control Function Modules
(SVC and SVC32) and MP2000-series Motion Control Function Modules are outlined in the fol-
lowing table.
MP3000
Item MP2000 SVC-01 Module
SVC SVC32
21 (Servo Drives 42 (Servo Drives
Maximum Number of 21 (Servo Drives can be connected for
can be connected can be connected
Connectable Stations up to 16 axes)
for up to 16 axes) for up to 32 axes)
You can assign You can assign
The registers for one circuit are
Register Range registers for one registers for one*1 assigned.
circuit. or two circuits.
125 μs, 250 μs,
125 μs, 250 μs,
Transmission Cycle 500 μs, 1 ms, 125 μs, 250 μs, 500 μs, 1ms
500 μs, 1 ms
1.5 ms, 2 ms, 3 ms
Slave CPU Synchroni-
zation Supported.*2 Not supported.
Simulation is achieved by distributing

Simulation is achieved through echoed
Simulation Mode virtual 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.
Note: Refer to the following section for other specifications.
2.2.3 SVC Function Module Specifications on page 2-8
2.2.4 SVR Function Module Specifications on page 2-10
*2. Refer to the following section for details.
6.6 Slave CPU Synchronization on page 6-18
2-6
2.2 Specifications
2.2.2 MECHATROLINK-III Communications Specifications for the SVC Function Module
2.2.2 MECHATROLINK-III Communications Specifications for

the SVC Function Module
The specifications of MECHATROLINK-III communications for the SVC Function Module are
given below.
Item Specifications
Communications Interface Master
Communications Cycle
125 μs to 32.0 ms
(Reference Update Cycle)
SVC: 125 μs, 250 μs, 500 μs, or 1 ms,
Transmission Cycle*
SVC32: 125 μs, 250 μs, 500 μs, 1 ms, 1.5 ms, 2 ms, or 3 ms
Communications Cable MECHATROLINK-III Communications Cable
Maximum Number of Con-
SVC: 21 stations, SVC32: 42 stations
nectable Stations
Topologies Cascade connections, star connections, or mixed cascade/star connections
Terminating Resistor Not necessary
Any of the following devices that support MECHATROLINK-III communications:

Connectable Slave Devices SERVOPACKs, Stepping Motor Drives, Inverters, I/O Modules, and Machine
Controllers
MECHATROLINK-III servo standard profile, MECHATROLINK-III I/O standard
Supported Profiles profile, MECHATROLINK-III inverter standard profile, and MECHATROLINK-III
stepping motor standard profile
* The transmission cycle is used to perform communications between the SVC Function Module and the slave
devices through the MECHATROLINK-III transmission line.
2-7
2.2 Specifications
2.2.3 SVC Function Module Specifications

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
Transmission Speed 100 Mbps

Transmission Cycle
SVC: 125 μs, 250 μs, 500 μs, or 1 ms
Number of Link Communications
16, 32, 48, or 64 (depending on the profile)
Master Function
Bytes
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-III-
Supported Profiles
compliant I/O
Communications Interface MECHATROLINK-III (2:N asynchronous)
Transmission Speed 100 Mbps
Minimum Transmission Cycle 125 μs
Maximum Transmission Cycle 32 ms
Slave Function
Transmission Cycle Increment

03 hex
(Granularity)
Station Addresses 03 to EF hex
Number of Link Communications
16, 32, 48, or 64
Bytes
Messaging (Slave Function) Supported.
Event-driven Communications Supported.
Cyclic Communications Supported.
Supported Profiles Primary: MECHATROLINK-III-standard I/O
2-8
2.2 Specifications

Item Specification
Synchronous communications through single send transmis-
sions
Transmission/communications error detection (hardware) pro-
vided.
Communication Methods
Synchronous communications error detection (software) pro-
vided.
No automatic recovery function (recovery occurs when alarms
are cleared).
I/O using motion registers (synchronized with the high-speed
I/O Registers
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 con-
Control Types
trol can be selected during operation.
Positioning, external positioning, zero point returns, interpola-
tion, interpolation with latch input, jogging, STEP operation,
Motion Commands
speed references, torque references, phase control, jogging with

external positioning, etc.
Servo Control
One-step asymmetric trapezoidal acceleration/deceleration,

Acceleration/Deceleration Methods exponential 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
Management SERVOPACK Parameter Tab Page.
Simulation Mode Supported.
Maximum Number of SVR32: 32 axes 2
SVR or Controlled Axes SVR: 16 axes
SVR32
Register Range The registers for two circuits are assigned.
Synchronous communications through single send transmis-
sions
I/O Control Functions
Transmission/communications error detection (hardware) pro-

Communication Methods
vided.
Synchronous communications error detection not provided.
Automatic recovery function provided.
I/O using I/O registers, synchronized on the high-speed scan or
I/O Registers
low-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 transmission cycle.
Synchronization between Modules We 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.
2-9
2.2 Specifications
2.2.4 SVR Function Module Specifications
2.2.4 SVR Function Module Specifications

Item Specification
I/O using motion registers (synchronized with the high-speed
I/O Registers
scan)
Command Modes Motion command mode
Supported Servomotors Standard and linear Servomotors
Position control, speed control, torque control, and phase con-
Control Types
trol can be selected during operation.
Positioning, external positioning, zero point returns, interpola-
Motion Commands tion, interpolation with latch input, jogging, STEP operation,
speed references, torque references, phase control, etc.
Exponential acceleration/deceleration filter (The bias speed can
Acceleration/Deceleration Methods
be set.)
Servo Control
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 and infinite-length position
Position Management Methods
management
Cannot be set. The axis immediately returns to the zero point
Zero Point Return Method
when 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
external signal is not possible.) Refer to the following chapter for details.
Chapter 4 Motion Control Program Commands and Instructions
2-10
2.2 Specifications
2.2.5 Applicable Versions for Additional Functions
2.2.5 Applicable Versions for Additional Functions

The following tables list the MP3000 and Engineering Tool versions that support the additional
functions.
Engineering
MP3000
Tool
MPE720
CPU-201 CPU-202 CPU-301 CPU-302 MP3100
Version 7
Function
JAPMC- JAPMC- JAPMC-
JEPMC- JEPMC- CP3301-1-E CP3302-1-E MC3100-1-E CPMC-
CP3201-E CP3202-E JAPMC- JAPMC- JAPMC- MPE780D
CP3301-2-E CP3302-2-E MC3100-2-E
Support for Σ-7-series
AC SERVOPACKs with Version Version
Version 1.12 Version 7.28
MECHATROLINK-III 1.12 or 1.12 or All versions All versions
or later or later
Communications for later later
Rotational Motors
Support for MECHA-
Version Version

TROLINK-III Standard Version 1.12 Version 7.23
1.12 or 1.12 or All versions All versions
Inverter Profile for or later or later
later later
A1000 and V1000
Support for Σ-7-series
AC SERVOPACKs with Version Version
Version 1.14 Version 7.30
MECHATROLINK-III 1.14 or 1.14 or All versions All versions
or later or later
Communications for later later
Linear Motors
Support for MECHA-
Version Version
TROLINK-III Standard Version 1.18 Version 7.33
1.18 or 1.18 or All versions All versions
Stepping Motor Drive or later or later
later later
Profile
Fixed Parameter No.1 Version Version
Version 1.28 Version 1.28 Version 7.38
Bit D: Torque Base Unit 1.28 or 1.28 or All versions
or later or later or later
of SERVOPACK later later
ABS_RST (Absolute Version Version
Version 1.30 Version 1.30 Version 1.30 Version 7.39
Encoder Reset) motion 1.30 or 1.30 or
or later or later or later or later
command later later
MLTTRN_SET (Multi- Version Version
turn Limit Setting) 1.30 or 1.30 or
motion command later later
MEM_RD (Read Mem- Version Version
ory) motion subcom- 1.41 or 1.41 or
Version 1.41 Version 1.41 Version 1.41
or later or later or later
Version 7.45
or later
2
mand later later
MEM_WR (Write Mem- Version Version
ory) motion subcom- 1.41 or 1.41 or
mand later later
2-11
2.3 System Configuration Example

The following figure shows a system configuration example that uses the Motion Control Func-
tion Module.
 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
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 EXIO IF
References MECHATROLINK-III
Communications
DC
24-VDC power supply I/O

or AC power supply
MP2200 MBU-02
POWER EXIO IF
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 SER-
VOPACK. Refer to the relevant SERVOPACK manual for details on the connections.
2-12
Turn ON the power supply to the MECHATROLINK-III slave devices first or at the same time as
the MP3000. If turning ON the power supply to the MP3000 first is unavoidable, reset the net-
work after you turn ON the power supply to the MECHATROLINK slave devices.
Important Otherwise, MECHATROLINK communications may not be performed correctly.
 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
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 SER-
VOPACK. Refer to the relevant SERVOPACK manual for details on the connections.
Turn ON the power supply to the MECHATROLINK-III slave devices first or at the same time as
the MP3000. If turning ON the power supply to the MP3000 first is unavoidable, reset the net-
work after you turn ON the power supply to the MECHATROLINK slave devices.
Important Otherwise, MECHATROLINK communications may not be performed correctly.
2-13
2.4 Topologies
2.4.1 Cascade Connections
2.4 Topologies
The SVC Function Module uses MECHATROLINK-III communications to control slave devices.
You can connect the MP3000 and MECHATROLINK-III slave devices with cascade, star, or
mixed cascade/star topologies. This section describes these topologies.
2.4.1 Cascade Connections

Cascade connections allow you to connect one or more series of slave stations from the
MECHATROLINK-III communications port (CN6) on the MP3000.
CPU Unit
No terminating resistor is required.
Up to 19 slave stations (Machine Controllers, servos, or I/O)
Note: This connection example uses a transmission cycle of 3 ms.

Figure 2.1 Cascade Connections Using Only One Port
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
Note: This connection example uses a transmission cycle of 3 ms.

Figure 2.2 Cascade Connections Using Two Ports
2-14
2.4 Topologies
2.4.2 Star Connections
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 transmission cycle. Refer to the following section for details.
Important MECHATROLINK Transmission Cycle and the Number of Connected Slave Stations (page 2-17)
2.4.2 Star Connections

Star connections allow you to connect slave stations through Hub Modules that are connected
to the MECHATROLINK-III communications port (CN6) on the MP3000. In this topology, each
port on the Hub Module connects to one slave station.

CPU Unit
Hub Module Hub Module 2
1. Terminating resistors are not required at the SERVOPACKs.

2. The maximum number of stations that you can connect with star connections depends on the
transmission cycle. Refer to the following section for details.
Important MECHATROLINK Transmission Cycle and the Number of Connected Slave Stations (page 2-17)
2-15
2.4 Topologies
2.4.3 Mixed Cascade/Star Connections
2.4.3 Mixed Cascade/Star Connections

A mixed cascade/star topology combines both cascade and star connections.
CPU Unit
Hub Module
No terminating
No terminating
1. Do not connect more than 19 stations up to the final slave stations to any one CPU Unit port,
including the Hub Modules.
2. The maximum number of stations that you can connect with a mixed cascade/star connec-
Important tions depends on the transmission cycle. Refer to the following section for details.
MECHATROLINK Transmission Cycle and the Number of Connected Slave Stations (page 2-17)
2-16
2.5 MECHATROLINK Transmission Cycle and the Number of Connected Slave Stations
The relationship between the MECHATROLINK transmission cycle and the number of con-
nected slave stations when the SVC Function Module is used is given in the following tables.
 Cascade Connections
Number of Connected
Transmission Cycle Stations Connection Conditions
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 −
If more than 17 stations are connected, two ports must be
1 ms 1 to 21*1 1 to 21
used.
used.
1.5 ms − 1 to 27
No more than 19 stations can be connected to a single

port.
used.
2 ms − 1 to 32
No more than 19 stations can be connected to a single
port.
used.
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.
 Star Connections
Transmission 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
2 ms − 1 to 42*2
3 ms − 1 to 42*2
2-17
 Mixed Cascade/Star Connections

Transmission 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 con-
250 μs 1 to 8 1 to 8
sist of no more than 2 stations.
500 μs 1 to 14 1 to 14
1 ms 1 to 21*1 1 to 29
1.5 ms − 1 to 42*2 sist of no more than 8 stations.
2 ms − 1 to 42*2 sist of no more than 16 stations.
3 ms − 1 to 42*2 sist of no more than 18 stations.
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 the MP3000, 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 transmission cycle.
2-18
2.6 Synchronization of the MECHATROLINK-III Transmission Cycle and High-Speed Scan Cycle
2.6.1 Synchronization Conditions
To perform motion control with the SVC Function Module, the MECHATROLINK transmission
cycle and the high-speed scan cycle of the CPU must be synchronized. This section describes
synchronization of the MECHATROLINK transmission cycle and the high-speed scan cycle.
If an asynchronous state results from changes in the MECHATROLINK transmission cycle or the
high-speed scan cycle, a Scan Setting Error alarm (IL04 bit 16) occurs for the axis and an
Important
I/O error occurs for the I/O station.
2.6.1 Synchronization Conditions

To synchronize the MECHATROLINK transmission cycle and the high-speed scan cycle of the
CPU, the high-speed scan cycle setting must be an integral multiple or integral fraction of the
MECHATROLINK transmission cycle setting.

2.6.2 Timing at Which the MECHATROLINK Transmission
Cycle and the High-speed Scan Cycle Are Synchronized
The MECHATROLINK transmission cycle and the high-speed scan cycle are automatically syn-
chronized 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 set-
tings to flash memory and then turn the power supply OFF and ON again.
• When executing self configuration from the MPE720
• When loading a Module configuration definition
• When operation changes from asynchronized to synchronized as a result of changing the
transmission cycle
• When operation changes from synchronized to asynchronized or from asynchronized to syn-
chronized as a result of changing the high-speed scan setting
• When fixed parameters are written after turning ON the power supply
2.6.3 Changing Synchronization Cycles 2

This section describes communications when the MECHATROLINK transmission cycle or the
high-speed scan cycle is changed.
Changing the MECHATROLINK Transmission Cycle

If the MECHATROLINK transmission cycle is changed, operation is automatically synchronized
as long as the high-speed scan setting is an integral multiple or integral fraction of the trans-
mission cycle setting. It is not necessary to turn the power supply OFF and ON again. If the
high-speed scan setting is not an integral multiple or integral fraction of the transmission cycle
setting, operation will not be synchronized, and an alarm will occur for the axis, and an I/O error
will occur for the I/O station.
If asynchronous operation results from changing the transmission cycle, set the high-speed scan
cycle to an integral multiple or integral fraction of the MECHATROLINK transmission cycle, save
Important the setting to flash memory, and then turn the power supply OFF and ON again.
2-19
2.6.4 Reference Output Timing
Changing High-speed Scan Cycle

When the high-speed scan cycle is changed, MECHATROLINK communications with all slave
stations connected to the SVC Function Module are reset. If the high-speed scan setting is an
integral multiple or integral fraction of the MECHATROLINK transmission cycle, operation is
automatically synchronized when communications are restored.
1. When you change the high-speed scan cycle, do so either with the CPU stopped or when
motion commands are not being executed. Otherwise, application operations may be
affected.
Important 2. When the high-speed scan cycle setting is changed, MECHATROLINK communications are
reset, and the following will occur.
• The axis position information is lost and bit 5 (Zero Point Return/Setting Completed) in
IW0C changes to 0 (Zero point return/setting not completed).
• The software limits will be disabled when bit 5 (Zero Point Return/Setting Completed) in
IW0C changes to 0 (Zero point return/setting not completed).
2.6.4 Reference Output Timing

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)
Transmission
cycle
(250 μs)
Transmission path
Command is sent to Command is sent to
the slave device every the slave device every
transmission cycle. transmission cycle.
2-20
2.6.5 Precautions When Combining with Other Modules
2.6.5 Precautions When Combining with Other Modules

The SVC Function Module and the 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 Mod-
ules will be synchronized.
However, the SVC Function Module and SVC-01 Module have different MECHATROLINK com-
munications methods from the SVB-01 Module. Because of this, even if the references are
received in the same scan with the same transmission cycle setting, the timing at which those
references are transmitted to slave stations via MECHATROLINK will not coincide even though
the same transmission cycle settings are used.
The SVC Function Module 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 sta-
tions will not coincide even between the SVC Function Module and SVC-01 Module.
Observe the following precautions.
• References that are set in the same scan by the application are transmitted in the same scan
to the SVC Function Module and the SVC-01 and SVB-01 Modules. However, a specific dif-
ference occurs in the timing in which these references are transmitted to slave stations via
MECHATROLINK. Therefore, interpolation operations cannot be performed between the SVC

Function Module or SVC-01 Module and the SVB-01 Module.
• Interpolation operations cannot be performed between the SVC Function Module and SVC-
01 Module.
• For applications that require synchronicity among more than one Module, either use only
SVC-01 Modules 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)
2-21
Parameters for
Motion Control
3
This chapter describes motion parameters required for
motion control.
3.1 Types of Motion Parameters . . . . . . . . . . . . 3-2
3.2 Motion Parameter Registers . . . . . . . . . . . . 3-3
3.3 Motion Parameter Tables . . . . . . . . . . . . . . 3-7

3.3.1 Fixed Parameter Table . . . . . . . . . . . . . . . . . . . . 3-7
3.3.2 Setting Parameter Table . . . . . . . . . . . . . . . . . . 3-10
3.3.3 Monitor Parameter Table . . . . . . . . . . . . . . . . . . 3-18
3.4 Motion Parameter Details . . . . . . . . . . . . . 3-27

3.4.1 Fixed Parameter Details . . . . . . . . . . . . . . . . . . 3-27
3.4.2 Setting Parameter Details . . . . . . . . . . . . . . . . . 3-36
3.4.3 Monitor Parameter Details . . . . . . . . . . . . . . . . 3-69
3.5 Automatically Updated Parameters . . . . . 3-89

3.5.1 Automatically Updated Parameters When a
MECHATROLINK Connection Is Established . . . 3-89
3.5.2 Automatically Updated Parameters
When a Setting Parameter Is Changed . . . . . . . 3-91
3.5.3 Automatically Updated Parameters
When a Motion Command Is Executed . . . . . . . 3-92
3.5.4 Parameters Automatically Updated
during Self Configuration . . . . . . . . . . . . . . . . . 3-93
3.1 Types of Motion Parameters
3.1 Types of Motion Parameters

Motion parameters are necessary to perform motion control. Motion parameters include fixed
parameters, setting parameters, and monitor parameters as given in the following table.
Parameters Overview
Fixed Parameters These parameters are used to make settings related to the servo system.
These parameters are used to set detailed aspects of control references used in motion
Setting Parameters
control.
Monitor Parameters These parameters are used to monitor the servo system.
Refer to the following section for details on the setting methods for parameters.
7.3 Setting Motion Parameters on page 7-19
3-2
3.2 Motion Parameter Registers

Motion parameter registers are used to store setting parameters and monitor parameters.
Specific motion parameter register addresses are determined by the circuit number that is used
for the Motion Control Function Module and the axis number that is assigned. This section
describes the default settings of the motion parameter registers that are allocated to the SVC
and SVR Function Modules, and the motion parameter registers that can be used.
Use the following formula to obtain the addresses of the first registers for the motion parame-
ters 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
Note: If two circuits are assigned, the SVC or SVC32 circuit number will never be even.
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
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
3-3
Axis Axis Axis Axis Axis Axis Axis
Circuit Axis
Number Number Number Number Number Number Number
Number Number 9
10 11 12 13 14 15 16
1
847F 84FF 857F 85FF 867F 86FF 877F 87FF
3
947F 94FF 957F 95FF 967F 96FF 977F 97FF
5
7
9
11
13
15
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
3
A800 to A880 to A900 to A980 to AA00 to AA80 to AB00 to AB80 to
5
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
E800 to E880 to E900 to E980 to EA00 to EA80 to EB00 to EB80 to
13
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
3-4
Circuit
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
3
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

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
1
807F 80FF 817F 81FF 827F 82FF 837F 83FF

2
3
907F 90FF 917F 91FF 927F 92FF 937F 93FF
4
5
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
7
8
B800 to B880 to B900 to B980 to BA00 to BA80 to BB00 to BB80 to 3
B87F B8FF B97F B9FF BA7F BAFF BB7F BBFF
9
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
11
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
13
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
15
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
3-5
Circuit
Number
9 10 11 12 13 14 15 16
1
847F 84FF 857F 85FF 867F 86FF 877F 87FF
2
3
947F 94FF 957F 95FF 967F 96FF 977F 97FF
4
5
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
7
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
9
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
11
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
13
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
15
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
3-6
3.3 Motion Parameter Tables
3.3.1 Fixed Parameter Table

This section provides tables of the motion parameters.

Fixed parameters are used to make settings related to the servo system. The following table
lists the fixed parameters.
SVC SVR
Reference
No. Name Description Function Function
Page
Module Module
0: Normal Operation Mode  
1: Unused Axis (Axis unused)  
Operation Mode 2: Simulation Mode  −
0 page 3-27
Selection 3: SERVOPACK Transmission Reference
 −
Mode
4 and 5: Reserved. − −
*1
Bit 0: Axis Selection
0: Finite-length axis  
1: Infinite-length axis
Bit 1: Enable Positive Software Limit
(Soft limit (positive direction) enable/dis-
 −
able)
0: Disabled, 1: Enabled
Bit 2: Enable Negative Software Limit
(Soft limit (negative direction) enable/dis-
 −

able)
Bit 3: Enable Positive Overtravel (Over-
travel positive direction enable/disable)  −
Bit 4: Enable Negative Overtravel (Over-
travel negative direction enable/disable)  −
Bits 5 to 7: Reserved. − −
Bit 8: Interpolation Segment Distribution
Function Selection Processing  −
1 page 3-28
Flags 1 0: Enabled, 1: Disabled
Bit 9: Simple Absolute Infinite Axis Posi- 3
tion Management*1 (Simple ABS rotary  −
Pos. mode)
Bit A: SERVOPACK Parameter Auto-
Write (User constants self-writing func-
 −
tion)
0: Enabled, 1: Disabled
Bit B: User-specified SERVOPACK
Parameter Auto-Write (User select User
 −
constants self-writing function)
Bit C: Software Limit Parameter Selec-
tion
 −
0: Fixed parameter
1: Setting parameter
Bit D: Torque Base Unit of SERVOPACK
 −
0: Set by user, 1: Set by system
Bits E and F: Reserved. − −
3-7

SVC SVR
Reference
Page
Module Module
Bit 0: Mask Communications Error
Detection
(Communication abnormality detection  −
mask)
Bit 1: Mask Watchdog Error Detection
(WDT abnormality detection mask)  −
Function Selection 0: Disabled, 1: Enabled
2 page 3-30
Flags 2
Bits 2 to 4: Reserved. − −
Bit 5: Finite-length Multiturn Limit Setting
Disagreement Detection Mask
(Multiturn Limit Setting Mismatch Detec-  −
tion Mask)
Bits 6 to F: Reserved. − −
3 − Reserved. − − −
0: Pulses
Reference Unit Selec- 1: mm
4 2: Degrees   page 3-31
tion*2 3: Inches
4: μm
Number of Digits
5 1 = 1 digit   page 3-31
Below Decimal Point
Travel Distance per
Machine Rotation 1 = 1 reference unit   page 3-32
6 (Rotary Motor)
Linear Scale Pitch
1 = 1 reference unit   page 3-32
(Linear Motor)
Servomotor Gear
8 1 = 1 revolution  
Ratio Term*3
page 3-32
Machine Gear Ratio
9 1 = 1 revolution  
Term*3
Infinite-length Axis
10 Reset Position (POS- 1 = 1 reference unit   page 3-32
MAX)*3
12 Positive Software Limit 1 = 1 reference unit  − page 3-33
Negative Software
14 1 = 1 reference unit  − page 3-33
Limit
16 to
− Reserved. − − −
28
0: Rotary motor
29 Motor Type Selection   page 3-33
1: Linear motor
0: Incremental encoder
1: Absolute encoder
2: Absolute encoder used as incremental
30 Encoder Selection encoder  − page 3-33
(Absolute encoder (Incremental encoder
is used))
3: Reserved.
31 to
33
Rated Motor Speed
1 = 1 min-1   page 3-34
(Rotary Motor)
34
Rated Speed
1 = 0.1 m/s   page 3-34
(Linear Motor)
3-8

SVC SVR
Reference
Page
Module Module
Number of Pulses Per
Motor Rotation 1 = 1 pulse/rev   page 3-34
(Rotary Motor)
36
Linear Scale Pitch 1 = 1 pulse/scale pitch   page 3-34
(Linear Motor)
Maximum Number of
38 Absolute Encoder 1 = 1 revolution  − page 3-35
Rotations*3*4
40 to
41
Feedback Speed
42 Movement Averaging 1 = 1 ms   page 3-35
Time Constant
43 − Reserved. − − −
User-specified SER-
The SERVOPACK parameter number to
44 VOPACK Parameter  − page 3-35
apply automatically.
Number
User-specified SER- The data size of the above SERVOPACK
45 VOPACK Parameter parameter.  − page 3-35
Size 1=1W
*1. Always set this bit to 0 for linear motors.
*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
converted to mm.
*3. This parameter is not valid for linear motors.
*4. Set this parameter to 0 when a direct-drive motor is used.

3
3-9
3.3.2 Setting Parameter Table

These parameters are used to set detailed aspects of control references used in motion con-
trol. The following table lists the setting parameters.
Information The boxes () in “OW00” are determined by the circuit number and the axis num-
ber. Refer to the following section for details on register addresses.
3.2 Motion Parameter Registers on page 3-3
SVC SVR
Register Reference
Name Description Function Function
Address Page
Module Module
Bit 0: Servo ON
 
0: OFF, 1: ON
Bit 1: Machine lock
0: Machine lock mode released  –
1: Machine lock mode
Bits 2 and 3: Reserved. – –
Bit 4: Latch Detection Request (Latch
detection demand)  –
0: OFF, 1: ON
Bit 5: Reserved. – –
Bit 6: Number of POSMAX Turns Pre-
set Request*1 (POSMAX turn number  
presetting demand)
0: OFF, 1: ON
Bit 7: Absolute Infinite-length Position
Information Load Request*1 (Request
 –
ABS rotary pos. load)
0: OFF, 1: ON
Bit 8: Positive External Torque/Force
Run Command Limit Input (Forward outside limiting
OW00  – page 3-36
Settings torque/thrust input)
0: OFF, 1: ON
Bit 9: Negative External Torque/Force
Limit Input (Reverse outside limiting
 –
torque/thrust input)
0: OFF, 1: ON
Bit A: Reserved. – –
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
3-10

SVC SVR
Register Reference
Address Page
Module Module
Bit 0: Excessive Deviation Error Level
Setting  –
0: Alarm, 1: Warning
Bit 3: Speed Loop P/PI Switch
Mode Settings  –
OW01 0: PI control, 1: P control page 3-39
1
Bit 4: Switch Gain (Gain switch)
 –
0: OFF, 1: ON
Bit 5: Switch Gain 2
 –
0: OFF, 1: ON
Bits 6 to F: Reserved. – –
Bits 0 to 7: Reserved. – –
Bits 8 to F: Stop Mode Selection
0: Stop according to the Linear Decel-
Mode Settings eration Rate/Deceleration Time Con-
OW02 stant parameter (Decelerate to a stop page 3-40
2  –
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 Selection
 
Function Set- 0: Reference units/s2
OW03 page 3-40
tings 1 1: ms
Bits 8 to B: Filter Type Selection
0: No filter (Filter none)
1: Exponential acceleration/decelera-  
tion filter
2: Moving average filter
Bits C to F: Torque Unit Selection
0: Percentage of rated torque
(1 = 0.01%)   3
1: Percentage of rated torque
(1 = 0.0001%)
Bits 0 to 3: Latch Detection Signal
Selection
0: −
1: −
 –
2: Phase-C pulse
3: /EXT1
4: /EXT2
5: /EXT3
Function Set-
OW04 Bits 4 to 7: External Positioning Signal page 3-41
tings 2
Setting
0: −
1: −
 –
2: Phase-C pulse
3: /EXT1
4: /EXT2
5: /EXT3
3-11

SVC SVR
Register Reference
Address Page
Module Module
Bit 1: Disable Phase Reference Calcu-
lation  –
Bit 2: External Positioning Final Travel
Function Set- Distance Write Selection
OW05  – page 3-41
tings 3 0: Automatically apply
1: Do not automatically apply
Bits 3 to A: Reserved. – –
Bit B: Zero Point Return Input Signal
 –
0: OFF, 1: ON
Bits C to F: Reserved. – –
M-III Vendor-
specific Servo This parameter is used as a vendor-
OW06  – page 3-42
Command Out- specific output area.
put Signal
OW07 − Reserved. – – −
3-12

SVC SVR
Register Reference
Address Page
Module Module
0: NOP (No Operation) (No command)  
1: POSING (Positioning)  
2: EX_POSING (External Positioning)  
3: ZRET (Zero Point Return)  
4: INTERPOLATE (Interpolation)  
5: Reserved. – –
6: LATCH (Interpolate 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)
18: PRM_WR (Write SERVOPACK
 –
Parameter) (Write user constant)
19: ALM_MON (Monitor Alarms)
 –

(Alarm monitor)
Motion Com- 20: ALM_HIST (Monitor Alarm History)
OW08  – page 3-44
mands (Alarm history monitor)
21: ALMHIST_CLR (Clear Alarm His-
 –
tory)
22: ABS_RST (Reset Absolute
 –
Encoder)
23: VELO (Issue Speed Reference)
 
(Speed reference)
24: TRQ (Issue Torque/Force Refer-
 
ence) (Torque/Thrust reference)
25: PHASE (Issue Phase Reference)
(Phase reference)
  3
26: KIS (Change Position Loop Integral
 –
Time Constant)
27: PPRM_WR (Write Non-volatile
 –
Parameter) (Stored parameter write)
28 to 33: Reserved. – –
34: EX_FEED (Jog with External Posi-
tioning)  –
(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)
39: MLTTRN_SET (Multiturn Limit Set-
 –
ting)
3-13

SVC SVR
Register Reference
Address Page
Module Module
Bit 0: Hold Command (Holds a com-
mand)  
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)  –
Motion Com- Bit 5: Position Reference Type
OW09 mand Control 0: Incremental value addition method page 3-45
Flags (Incremental value add method)  
1: Absolute value specification method
(Absolute value set method)
Bit 6: Electric Cam Phase Compensa-
tion Type (Phase Compensation Type)
0: Incremental value addition method
 –
(Incremental value add method)
Bit 8: SERVOPACK Parameter Access
Selection (Access target servo driver
user constant)  –
0: Vendor-specific parameters
1: Common parameters
Parameter)  –
(Read user constant)
Parameter)  –
(Write user constant)
OW0A
Motion Sub- 3: INF_RD (Read Device Information)  – page 3-46
commands
4: SMON (Monitor Status)  –
5: FIXPRM_RD (Read Fixed Parameter)  
6: FIXPRM_CHG (Change Fixed
Parameter)  –
(Write fixed parameter)
7: MEM_RD (Read Memory)  –
8: MEM_WR (Write Memory)  –
OW0B – Reserved. – – –
Torque/Force
Reference Set-
The unit is set in bits C to F (Torque
OL0C ting or Torque   page 3-47
Unit Selection) of OW03.
Feedforward
Compensation
Speed Limit for
OW0E Torque/Force 1 = 0.01% (percentage of rated speed)  – page 3-47
Reference
3-14

SVC SVR
Register Reference
Address Page
Module Module
OW0F − Reserved. – – –
Speed Refer- The unit is set in bits 0 to 3 (Speed
OL10   page 3-48
ence Setting Unit Selection) of OW03.
1 = 0.01% (percentage of rated motor
OW12 Speed Limit speed (rotary motor) or rated speed  – page 3-48
(linear motor))
OW13 − Reserved. – – –
Torque/Force The unit is set in bits C to F (Torque
OL14  – page 3-49
Limit Unit Selection) of OW03.
Second Speed The unit is set in bits 0 to 3 (Speed
OL16   page 3-49
Compensation Unit Selection) of OW03.
OW18 Override 1 = 0.01%  – page 3-50
OW19
to – Reserved. – – –
OW1B
Position Refer-
OL1C 1 = 1 reference unit   page 3-50
ence Setting
Positioning
OL1E Completion 1 = 1 reference unit  – page 3-50
Width
NEAR Signal
OL20 1 = 1 reference unit  – page 3-51
Output Width
Excessive Devi-
OL22 ation Detection 1 = 1 reference unit  – page 3-52
Value
OL24 – Reserved. – – –

Positioning
OW26 Completion 1 = 1 ms  – page 3-52
Check Time
OW27 – Reserved. – – –
Phase Compen-
sation Setting
Latch Zone
OL2A Lower Limit 1 = 1 reference unit  –
Setting
page 3-53
Latch Zone
OL2C Upper Limit 1 = 1 reference unit  –
Setting
3
Position Loop
OW2E 1 = 0.1 /s  – page 3-55
Gain
Speed Loop
OW2F 1 = 1 Hz  – page 3-55
Gain
Speed Feedfor-
1 = 0.01% (percentage of distribution
OW30 ward Compen-  – page 3-55
segment)
sation
Speed Com-
OW31 1 = 0.01% (percentage of rated speed)   page 3-56
pensation
Position Loop
OW32 Integral Time 1 = 1 ms  – page 3-56
Constant
Speed Loop
OW34 Integral Time 1 = 0.01 ms  – page 3-56
Constant
3-15

SVC SVR
Register Reference
Address Page
Module Module
Linear Accelera-
The unit is set in bits 4 to 7 (Accelera-
tion Rate/Accel-
OL36 tion/Deceleration Rate Unit Selection)   page 3-57
eration Time
of OW03.
Constant
Linear Deceler-
ation Rate/
OL38 tion/Deceleration Rate Unit Selection)   page 3-57
Deceleration
of OW03.
Time Constant
Filter Time Con-
OW3A 1 = 0.1 ms   page 3-58
stant
Bias Speed for
Indexed Decel- The unit is set in bits 0 to 3 (Speed
OW3B –  page 3-59
eration/Acceler- Unit Selection) of OW03.
ation Filter
0: DEC1 + C pulse  –
1: ZERO signal  –
2: DEC1 + ZERO signal  –
3: C pulse  –
11: C pulse only  –
Zero Point 12: P-OT + C pulse  –
OW3C page 3-59
Return Method 13: P-OT only  –
14: HOME LS + C pulse  –
15: HOME only  –
16: N-OT + C pulse  –
17: N-OT only  –
18: INPUT + C pulse  –
19: INPUT only  –
Zero Point Posi-
OW3D tion Output 1 = 1 reference unit   page 3-60
Width
Approach The unit is set in bits 0 to 3 (Speed
OL3E  – page 3-60
Speed Unit Selection) of OW03.
The unit is set in bits 0 to 3 (Speed
OL40 Creep Speed  – page 3-60
Unit Selection) of OW03.
Zero Point
OL42 Return Travel 1 = 1 reference unit  – page 3-60
Distance
STEP Travel
OL44 1 = 1 reference unit   page 3-61
Distance
External Posi-
OL46 tioning Final 1 = 1 reference unit  – page 3-62
Travel Distance
Zero Point Posi-
tion Offset in
Machine Coor-
dinate System
Working Coor-
OL4A dinate System 1 = 1 reference unit   page 3-62
Offset
Number of
OL4C*2 POSMAX Turns 1 = 1 revolution   page 3-63
Preset Data
3-16

SVC SVR
Register Reference
Address Page
Module Module
Bits 0 to 3: Monitor 1 (Cannot be set.)
SERVOPACK
Bits 4 to 7: Monitor 2
OW4E User Monitor  – page 3-63
Bits 8 to B: Monitor 3 (Cannot be set.)
Setting
Bits C to F: Monitor 4
SERVOPACK
Sets the number of the alarm to moni-
OW4F Alarm Monitor  – page 3-64
tor.
Number
SERVOPACK
Sets the SERVOPACK parameter num-
OW50 Parameter  – page 3-64
ber.
Number
SERVOPACK Sets the size of the SERVOPACK
OW51  – page 3-64
Parameter Size parameter in words.
SERVOPACK
Sets the set value for the SERVOPACK
OL52 Parameter Set  – page 3-65
parameter.
Value
Auxiliary SER-
VOPACK Sets the SERVOPACK parameter num-
OW54  – page 3-65
Parameter ber.
Number
Auxiliary SER-
Sets the size of the SERVOPACK
OW55 VOPACK  – page 3-65
parameter in words.
Parameter Size
Auxiliary SER-
VOPACK Sets the set value for the SERVOPACK
OL56  – page 3-65
Parameter Set parameter.
Value
Sets the target address for the

OL58 Address Setting MEM_RD, MEM_WR, PMEM_RD, and  – page 3-66
PMEM_WR motion commands.
OW5A – Reserved. – – –
00 hex: Disabled
01 hex: Vendor ID code
Device Informa-
02 hex: Device code
OW5B tion Selection  – page 3-66
03 hex: Device version
Code
04 hex: Device information file version
05 hex: Serial number
Sets the number of the fixed parame-
Fixed Parame-
OW5C ter to read with the FIXPRM_RD   page 3-66
ter Number
motion subcommand.
OW5D – Reserved. – – – 3
Power OFF
Encoder Posi-
tion (Encoder
OL5E*3 position when
1 = 1 pulse  –
power is off)
(Lower 2 Words)
Power OFF
Encoder Posi-
tion (Encoder
OL60*3 position when
1 = 1 pulse  – page 3-67
power is off)
(Upper 2 Words)
Power OFF
Pulse Position
(Pulse position
OL62*3 when power is
1 = 1 pulse  –
off) (Lower 2
Words)
3-17
3.3.3 Monitor Parameter Table

SVC SVR
Register Reference
Address Page
Module Module
Power OFF
Pulse Position
(Pulse position
OL64*3 when power is
1 = 1 pulse  – page 3-67
off) (Upper 2
Words)
Positive Soft-
ware Limit
Negative Soft-
ware Limit
Auxiliary
OL6A MEM_RD and MEM_WR motion sub-  – page 3-68
Address Setting
commands.
OL6C – Reserved. – – –
OL6E – Reserved. – – –
User-specified
Enter the value to set for the SERVO-
SERVOPACK
OL70 PACK parameter that is set with fixed  – page 3-69
Parameter Set
parameter No. 44.
Value
Command Buf-
fers for SERVO-
OW68 to PACK This area is used for command data
*4 Transmission when MECHATROLINK Servo com-  – page 3-69
OW7F mands are specified directly.
Reference
Mode
*1. Always set this bit to 0 for linear motors.
*2. This parameter is not valid for linear motors.
*3. Do not set this parameter for linear motors.
*4. These parameters are used in SERVOPACK Transmission Reference Mode only.

These parameters are used to monitor the servo system. The following table lists the monitor
parameters.
Information The boxes () in “IW00” are determined by the circuit number and the axis num-
SVC SVR
Register Reference
Address Page
Module Module
Bit 0: Motion 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
 –
IW00 RUN Status 0: System not busy, 1: System busy page 3-69
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
3-18

SVC SVR
Register Reference
Address Page
Module Module
Out-of-range
Setting parameter: 0 and higher
IW01 Parameter   page 3-70
Fixed parameter: 1000 and higher
Number
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  
Bit 3: Servo Driver 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
IL02 Warnings page 3-71
Bit 6: Positive Overtravel (Positive direc-
tion overtravel)
 –
0: No positive overtravel
1: Positive overtravel occurred
Bit 7: Negative 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
Warning
 –
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. – –
3-19

SVC SVR
Register Reference
Address Page
Module Module
Bit 0: SERVOPACK Error
0: No SERVOPACK alarm  –
1: SERVOPACK alarm occurred
Bit 1: Positive Overtravel
(Positive direction overtravel)
 –
(Negative direction overtravel)
 –
0: No negative overtravel
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
IL04 Bit 6: Positioning Time Exceeded
(Continued
Alarms (Positioning time over)  – page 3-72
on next 0: No timeout, 1: Timeout occurred
page.) Bit 7: Excessive Positioning Travel Dis-
tance
(Excessive positioning moving amount)  –
0: Normal travel distance
1: Excessive travel distance
Bit 8: Excessive Speed
 –
0: Normal speed, 1: Excessive speed
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  –
Bit C: Reserved. – –
*1
Bit D: Zero Point Unset (Zero point
unsetting)  –
0: Zero point is set
1: Zero point unset error occurred
Bits E and F: Reserved. – –
3-20

SVC SVR
Register Reference
Address Page
Module Module
Bit 10: SERVOPACK Synchronized
Communications Error (Servo Driver
Synch. Comm. error)
0: No synchronized communications  –
error
1: Synchronized communications error
occurred
Error
0: No consecutive synchronized com-
 –
munications errors
1: Consecutive synchronized commu-
nications errors occurred
Timeout Error
0: SERVOPACK command completed
 –
within the specified time
1: SERVOPACK command not com-
pleted within the specified time
IL04 Bit 13: Excessive Absolute Encoder
(Continued Rotations*1
Alarms page 3-72
from previ- (Excessive ABS encoder rotations)  –
ous page.) 0: In valid range
1: Outside valid range
Bit 16: Scan Setting Error
0: No scan setting error  –
1: Scan setting error occurred

Bits 17 to 1B: Reserved. – –
Bit 1C: Cyclic Communications Initializa-
tion 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
 –
Bit 1F: Connected Encoder Model Error
 –
IL06 – Reserved. – – – 3
Motion Com-
Same as OW08 (motion com-
IW08 mand Response   page 3-75
mands).
Code
3-21

SVC SVR
Register Reference
Address Page
Module Module
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 3: Command Error End (FAIL)
(Command error completed status)
 
Motion Com- 0: Completed normally
IW09 1: Completed with an error page 3-76
mand Status
Bit 7: Absolute Encoder Reset Com-
pleted (ABS_RSTC)
 –
0: Reset not completed
1: Reset completed
Bit 8: Command Execution Completed
(COMPLETE)
 
0: Normal execution not completed
1: Normal execution completed
Motion Sub-
Same as OW0A (Motion Subcom-
IW0A command   page 3-77
mands).
Response Code
Bit 0: Command Execution Flag
Bit 3: Command Error End
Motion Sub- (Command error completed status)
 
IW0B command Sta- 0: Completed normally page 3-77
tus 1: Completed with an error
0: Normal execution not completed  
3-22

SVC SVR
Register Reference
Address Page
Module Module
Bit 0: Distribution Completed (DEN)
(Discharging completed)
 
0: Distributing pulses
1: Distribution completed
Bit 1: Positioning Completed (POS-
COMP)
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 Com-
pleted (ZRNC)
Position Man- (Zero point return [setting] completed)
IW0C   page 3-78
agement Status 0: Zero point return/setting not com-
pleted
1: Zero point return/setting completed
Bit 6: Machine Locked (MLKL)
(During machine lock)
 –
0: Machine Lock Mode released
1: Machine locked

Information 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. – – 3
IW0D – Reserved. – – –
Machine Coor-
dinate System
IL0E 1 = 1 reference unit   page 3-79
Target Position
(TPOS)
Machine Coor-
dinate System
IL10 1 = 1 reference unit   page 3-80
Calculated Posi-
tion (CPOS)
Machine Coor-
dinate System
Reference Posi-
tion (MPOS)
32-bit DPOS
(DPOS)
3-23

SVC SVR
Register Reference
Address Page
Module Module
Machine Coor-
dinate System
Feedback Posi-
tion (APOS)
Machine Coor-
dinate System
IL18 1 = 1 reference unit  – page 3-81
Latch Position
(LPOS)
Position Devia-
IL1A 1 = 1 reference unit  – page 3-81
tion (PERR)
Target Position
Increment Moni-
tor (PDV)
IL1C 1 = 1 reference unit –  page 3-81
(Target position
difference moni-
tor)
Number of
IL1E*1 POSMAX Turns
1 = 1 turn   page 3-81
Speed Refer-
IL20 ence Output pulse/s  – page 3-82
Monitor
IL22
– Reserved. – – –
to IL27
M-III Servo
Reports the signal information that is
IL28 Command Input  – page 3-82
input.
Signal Monitor
M-III Servo
Reports the Servo command information
IL2A Command Sta-  – page 3-82
that is input to MECHATROLINK-III.
tus
Bit 0: Drive Alarm (D_ALM) (Drive Alarm
Occurrence)
Bit 1: Drive Warning (D_WAR) (Drive
Warning Occurrence)
Bit 2: Command Ready (CMDRDY)
Bit 3: Alarm Clear Execution Completed
M-III Command (ALM_CLR_CMP) (Alarm Clear Execu-
IW2C  – page 3-83
Status tion Completion)
Bits 4 and 5: Reserved.
Bits 6 and 7: Echo-back of Command ID
(RCMD_ID)
Bits 8 to B: Command Error (CMD_ALM)
Bits C to F: Communication Error (COM-
M_ALM)
SERVOPACK Reports the alarm code from the SER-
IW2D  – page 3-84
Alarm Code VOPACK.
IW2E – Reserved. – – –
SERVOPACK
IW2F User Monitor  – page 3-84
Information
SERVOPACK Reports the result of the selected moni-
IL30  – page 3-84
User Monitor 2 tor item.
IL32 − Reserved. – – –
SERVOPACK Reports the result of the selected moni-
IL34  – page 3-85
User Monitor 4 tor item.
SERVOPACK
Reports the number of the target
IW36 Parameter  – page 3-85
parameter.
Number
3-24

SVC SVR
Register Reference
Address Page
Module Module
Auxiliary SER-
VOPACK Reports the number of the target
IW37  – page 3-85
Parameter parameter.
Number
SERVOPACK
The data of the SERVOPACK parameter
IL38 Parameter Read  – page 3-85
that was read.
Data
Auxiliary SER-
VOPACK The data of the SERVOPACK parameter
IL3A  – page 3-85
Parameter Read that was read.
Data
IW3C
to – Reserved. – – –
IW3E
Reports the type of the connected
IW3F Motor Type motor.  – page 3-85
0: Rotary motor, 1: Linear motor
Feedback The unit is set in bits 0 to 3 (Speed Unit
IL40   page 3-86
Speed Selection) of OW03.
Torque/Force
The unit is set in bits C to F (Torque Unit
IL42 Reference Moni-   page 3-86
Selection) of OW03.
tor
IW44 − Reserved. – – –
IW46
to − Reserved. – – –
IW55

Fixed Parame- Stores the execution results of the FIX-
IL56   page 3-87
ter Monitor PRM_RD motion subcommand.
IW58
IW5A
00 hex: Disabled
Device Informa-
02 hex: Device code
IW5B tion Monitor  – page 3-87
Code
IL5C − Reserved. – – –
Power OFF 3
Encoder Posi-
tion (Encoder
IL5E 1 = 1 pulse  –
position when
power is off)
(Lower 2 Words)
page 3-87
Power OFF
Encoder Posi-
tion (Encoder
IL60 1 = 1 pulse  –
position when
power is off)
(Upper 2 Words)
3-25

SVC SVR
Register Reference
Address Page
Module Module
Power OFF
Pulse Position
(Pulse position
IL62 1 = 1 pulse  –
when power is
off) (Lower 2
Words)
page 3-87
Power OFF
Pulse Position
(Pulse position
IL64 1 = 1 pulse  –
when power is
off) (Upper 2
Words)
IW66
IW6F
IW70 Device Informa-
Reports the information that was read
to tion Monitor  – page 3-88
with the INF_RD subcommand.
IW7F Data
Response Buf-
IW68 fers for SERVO-
Stores MECHATROLINK Servo
to PACK  – page 3-88
*2 Transmission responses.
IW7F
Reference Mode
*1. This bit or parameter is not valid for linear motors.

*2. These parameters are used in SERVOPACK Transmission Reference Mode only.
3-26
3.4 Motion Parameter Details
3.4.1 Fixed 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 Unit

No. Name Default Control mode
Range
Position Phase
Run Command − − 0000 hex
OW00 Speed Torque
Settings
This is the default These are the control modes

This is the valid setting range for which this parameter can
setting of the
for the parameter. parameter. be applied.
SVC SVR
These boxes show whether the

parameter can be used with the SVC
and SVR Function Modules.

This section provides details on each of the fixed parameters.
Refer to the following section for a list of the fixed parameters.
3.3.1 Fixed Parameter Table on page 3-7
Operation Mode Selection

 Operation Mode Selection
This parameter specifies how to use the axis.
3
No. Name Setting Range Setting Unit Default
0 Operation Mode Selection 0 to 3 − 0
0: Normal Operation Mode (default) SVC SVR
Use this setting to use an axis.
1: Unused Axis SVC SVR
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 last status
from the other operation mode. The IW00 monitor parameter (RUN Status) will be 0.
2: Simulation Mode SVC
In Simulation Mode, position information is reported in the monitor parameters even if a slave
SERVOPACK is not connected.
This mode is used to virtually check the operation of application programs.
3-27
3: SERVOPACK Transmission Reference Mode SVC

SERVOPACK Transmission Reference Mode is used to directly control the command-response
communications with the slave 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.
• In this mode, commands and responses are transferred by the application according to the
MECHATROLINK-III standard servo profile.
Report
“Report” is used for information that is automatically transferred by the system in the CPU with-
Term
out any action by the user.
Function Selection Flags 1

 Function Selection Flags 1
1 Function Selection Flags 1 − − 0000 hex
 Bit 0: Axis Selection SVC SVR

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 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

Enable or disable the software limit in the forward 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).
Refer to the following section for details on the software limits.
6.3 Software Limits on page 6-9
 Bit 2: Enable Negative Software Limit SVC

Enable or disable the software limit in the reverse direction.
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).
3-28
• The software limit is valid only after bit 5 (Zero Point Return/Setting Completed) in the
IW0C monitor parameter changes to 1 (Completed).
 Bit 3: Enable Positive Overtravel SVC

Enable or disable overtravel detection in the positive direction.
1: Enabled.
Setting Precautions
• Make sure that this setting agrees with the corresponding setting in the SERVOPACK.
• A warning occurs if a positive overtravel signal is input when this parameter is set to 0 (Dis-
abled).
Refer to the relevant SERVOPACK manual for details on overtravel.
 Bit 4: Enable Negative Overtravel SVC

Enable or disable overtravel detection in the negative direction.
1: Enabled.
Setting Precautions
• Make sure that this setting agrees with the corresponding setting in the SERVOPACK.
• A warning occurs if a negative overtravel signal is input when this parameter is set to 0 (Dis-
abled).
Refer to the relevant SERVOPACK manual for details on overtravel.
 Bit 8: Interpolation Segment Distribution Processing SVC

Enable or disable the function to distribute reference values that were generated in the high-
speed scan cycle to reference values for the MECHATROLINK communications cycle when an
interpolation command (INTERPOLATE, LATCH, or PHASE) is executed.
0: Enabled (default).
1: Disabled.
Setting Precautions
• Always set this parameter to 0 when an interpolation command is used.
 Bit 9: Simple Absolute Infinite Axis Position Management SVC

Enable or disable infinite-length axis position control based on the condition that the number of
rotations that the encoder counts is an integral multiple of the number of rotations for the reset 3
cycle for the reference unit.
This eliminates the need to save and load absolute infinite-length position management infor-
mation from a ladder program.
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 on page 5-32
 Bit A: SERVOPACK Parameter Auto-Write SVC

Enable or disable automatic writing of MP3000 setting parameters to the SERVOPACK param-
eters when any of the following three triggers occur.
• MECHATROLINK communications are established.
• A setting parameter is modified.
3-29
• A motion command is executed.

1: Disabled.
Refer to the following section for details.
3.5 Automatically Updated Parameters on page 3-89
 Bit B: User-specified SERVOPACK Parameter Auto-Write SVC

Enable or disable writing to the SERVOPACK parameter that is set in fixed parameter No. 44
(User-specified SERVOPACK Parameter Number).
1: Enabled.
 Bit C: Software Limit Parameter Selection SVC

Select whether the software limit is set in a fixed parameter or in a setting parameter.
0: Fixed parameter (default).
1: Setting parameter.
 Bit D: Torque Base Unit of SERVOPACK SVC

This specifies the method for setting common parameter No. 48 (Torque Base Unit).
This function can be used when a Σ-7C SERVOPACK with version 1.01 or higher and MPE720 with
version 7.39 or higher are combined.
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 Selection) in the OW03 setting parameter. Refer to the
following section for details.
<Common Parameter No. 48 Setting> on page 3-86
1: Set by system
You can use this setting only for the following SERVOPACKs with MECHATROLINK-III Commu-
nications.
• SGDV-2
• SGD7S-20
• SGD7W-20
This setting is used only when automatically setting common parameter No. 48 (Torque Base Unit).
The MP3000 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
Function Selection Flags 2

2 Function Selection Flags 2 − − 0000 hex
 Bit 0: Mask Communications Error Detection SVC

You can set this parameter to ignore any MECHATROLINK communications errors that are
detected in the MP3000.
1: Enabled.
3-30
 Bit 1: Mask Watchdog Error Detection SVC

You can set this parameter to ignore any MECHATROLINK watchdog timer errors that are
detected in the MP3000.
1: Enabled.
 Bit 5: Finite-length Multiturn Limit Setting Disagreement Detection Mask SVC

Use this bit to specify whether or not to detect a multiturn limit setting disagreement during
finite-length operation.
1: Enabled.
Reference Unit Selection

 Reference Unit Selection SVC SVR
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.
5.1.1 Reference Unit on page 5-3

4 Reference Unit Selection 0 to 4 − 0
0: Pulses
1: mm
2: Degrees

3: Inches
4: mm
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 (Servomo-
tor Gear Ratio Term) and fixed parameter No. 9 (Machine Gear Ratio Term) is disabled.
 Number of Digits Below Decimal Point SVC SVR

Set the number of digits below the decimal point for reference units.
The minimum reference unit is determined by this parameter and fixed parameter No. 4 (Refer- 3
ence Unit Selection). Refer to the following section for details on reference units.
5.1.1 Reference Unit on page 5-3

Number of Digits Below Deci-
5 0 to 5 − 3
mal Point
Example When Reference Unit Selection is set to mm and Number of Digits Below Decimal Point is set
to 3, a reference value of 1 means 0.001 mm.
Setting Precautions
This parameter is not used if fixed parameter No. 4 (Reference Unit Selection) is set to 0
(Pulses).
3-31
 Travel Distance per Machine Rotation (Rotary Motor) SVC SVR

Specify the amount of travel in the load in reference units for each turn of the machine.
5.1.2 Electronic Gear on page 5-3

Travel Distance per Machine
6
Rotation 1 to 231−1 Reference units 10,000
 Linear Scale Pitch (Linear Motor) SVC SVR

Set the linear scale pitch that is used for linear motor position detection.
6 Linear Scale Pitch 1 to 2 −1
31 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.
 Servomotor Gear Ratio Term and Machine Gear Ratio Term

SVC SVR
Set the gear ratio between the motor and the load.
The following two values are set for a machine 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
5.1.2 Electronic Gear on page 5-3

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

 Infinite-length Axis Reset Position (POSMAX) SVC SVR
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.
Infinite-length Axis Reset Posi-
10
tion 1 to 2 −1
31 Reference units 360,000
POSMAX
Position
Forward Reverse
3-32
Software Limits
 Positive Software Limit SVC
Set the position to detect the software limit in the forward direction for the MP3000.
12 Positive Software Limit -2 31
to 2 −1
31 Reference units 2 −131
Setting Precautions
• If an axis attempts to move in the forward 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.
 Negative Software Limit SVC

Set the position to detect the software limit in the reverse direction for the MP3000.
14 Negative Software Limit -2 31
to 2 −1
31 Reference units -2 31
Setting Precautions
• If an axis attempts to move in the reverse direction past this position, a negative software limit
• This parameter is valid when bit 2 (Enable Negative Software Limit) in fixed parameter No. 1 is
set to 1 (Enabled).

details.
SERVOPACK Settings
 Motor Type Selection SVC
Select the motor type to use.
29 Motor Type Selection 0, 1 − 0 3
0: Rotary motor
1: Linear motor
 Encoder Selection SVC

Set the encoder type to use.
30 Encoder Selection 0 to 2 − 0
0: Incremental encoder.
1: Absolute encoder.
2: Absolute encoder used as incremental encoder.
3: Reserved.
Setting Precautions
For linear motors, set the encoder type that matches the linear scale and SERVOPACK set-
tings.
3-33
Encoder Settings
 Rated Motor Speed (Rotary Motor) SVC SVR
Set the rated motor speed in revolutions per minute.
Rated Motor Speed (Rotary
34
Motor)
1 to 100,000 min-1 3,000
Setting Precautions
Set this parameter based on the specifications of the motor.
 Rated Speed (Linear Motor) SVC SVR

Set the rated speed.
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.
5.1.8 Linear Scale Pitch and Rated Speed on page 5-15
 Number of Pulses Per Motor Rotation (Rotary Motor) SVC SVR

Set the number of feedback pulses per motor rotation.
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 24-bit encoder,
refer to the following section and set the number of pulses per motor rotation.
5.4 Absolute Encoders with 24-Bit Resolution on page 5-53
Example For a 16-bit encoder, set 216 = 65,536.
 Number of Pulses Per Linear Scale Pitch (Linear Motor) SVC SVR
Set the number of pulses that is equivalent to the value that is set for fixed parameter No. 6
(Linear Scale Pitch).
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.
3-34
 Maximum Number of Absolute Encoder Rotations SVC

Set the maximum number of rotations that the absolute encoder can manage.
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 Multiturn Limit SERVOPACK parameter.
Example For infinite-length axes (i.e., when bit 0 in fixed parameter No. 1 is set to 1), set this parame-
ter 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
Forward Reverse Forward Reverse
Data Number of Data
revolutions
0
0
-32768 Number of
revolutions
 Feedback Speed Movement Averaging Time Constant SVC SVR

Set the moving average time constant for the feedback speed. The IL40 monitor param-
eter (Feedback Speed) contains the value that is determined by the time constant in this

parameter and the unit-converted difference between feedback positions for each high-speed
scan.
Feedback Speed Movement
42 0 to 32 ms 10
Averaging Time Constant
 User-specified SERVOPACK Parameter Number SVC

Specify the SERVOPACK parameter number (the  in Pn) that is to be applied auto-
matically.
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.
3
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
parameter No. 1 is set to 1 (Enabled).
 User-specified SERVOPACK Parameter Size SVC

Set the data size of the SERVOPACK parameter that is specified in fixed parameter No. 44
(User-specified SERVOPACK Parameter Number).
45 1 or 2 word 1
Parameter Size
3-35
3.4.2 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.
3.3.2 Setting Parameter Table on page 3-10
• The boxes () in “OW00” are determined by the circuit number and the axis
number. Refer to the following section for details on register addresses.
Run Command Settings

 Run Command Settings
Register Setting
Name Setting Unit Default Control mode
Address Range
Position Phase
OW00 Run Command Settings − − 0000 hex
Speed Torque
 Bit 0: Servo ON SVC SVR

Use this bit to turn the power to the Servomotor ON or OFF.
0: OFF (default).
1: ON.
 Bit 1: Machine Lock SVC

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 param-
eter (Machine Coordinate System Calculated Position (CPOS)) is updated.
• The Machine Lock Mode can be set or released only after distribution has been completed.
• The Machine Lock Mode cannot be set or released during speed or torque control.
 Bit 4: Latch Detection Request SVC

When this bit is changed to 1 from 0, 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 signal to use as the latch signal.
3-36
 Bit 6: Number of POSMAX Turns Preset Request SVC SVR

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

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 Com-
pleted) in 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.
 Turning ON the Power after Setting the Origin in the Machine Coordinate System on page 5-36
 Bit 8: Positive External Torque/Force Limit Input SVC

Set this bit to 1 to limit the torque or force by the value set in the SERVOPACK parameters.
The setting of this parameter is applied to the reference to the slave 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)
0: Positive external torque/force input OFF (default).
1: Positive external torque/force input ON.
 Bit 9: Negative External Torque/Force Limit Input SVC

Set this bit to 1 to limit the torque or force by the value set in the SERVOPACK parameters. 3
The setting of this parameter is applied to the reference to the slave 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)
0: Negative external torque/force input OFF (default).
1: Negative external torque/force input ON.
3-37
 Bit B: Reset Integration SVC

Set this bit to 1 to reset the integration term in the position loop in the slave SERVOPACK.
This setting is enabled when a travel motion command or a command to turn ON the Servomo-
tor’s power is executed.
0: Reset integration OFF (default).
1: Reset integration ON.
 Bit C: Reset Network SVC

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 con-
ditions such as the transmission cycle and the number of slave stations that are connected. In
this case, a cyclic communications 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, communications with all stations, not
just the one with the alarm, are disconnected and resumed after the network is reset. Confirm
that the operation of stations other than the relevant station has stopped and then reset the
network.
 Bit D: Latch Completed Status Clear Request SVC

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.
 Bit E: Reset Communications SVC

Set this bit to 1 to disconnect and then reestablish communications with the slave SERVO-
PACK.
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 communications reset is completed.
OW00 bit E
Reset
Communications
IW00 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.
3-38
 Bit F: Clear Alarm SVC SVR

Set this bit to 1 to clear an alarm.
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.
• 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
 Mode Settings 1
Register Setting
Address Range
Position Phase
OW01 Mode Settings 1 − − 0000 hex
Speed
 Bit 0: Excessive Deviation Error Level Setting SVC

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

Use this bit to set the SERVOPACK’s speed loop to PI control or P control.
0: PI control (default). 3
1: P control.
 Bit 4: Switch Gain SVC

Set this bit to 1 to switch the gains to the values that are set for Gain Settings 2 in the SERVO-
PACK parameters.
0: Switch gain OFF (default).
1: Switch gain ON.
 Bit 5: Switch Gain 2 SVC

In combination with bit 4, you can switch between four different gains.
0: Switch gain OFF (default).
1: Switch gain ON.
3-39
Mode Settings 2
 Mode Settings 2
Register Setting
Address Range
Position Phase
OW02 Mode Settings 2 − − 0000 hex
Speed Torque
 Bits 8 to F: Stop Mode Selection SVC

Set the stop method for an axis that is in motion for a travel motion command.
0: Stop according to the Linear Deceleration Rate/Deceleration Time Constant parame-
ter (default).
1: Stop immediately.
Function Settings 1
 Function Settings 1
Register Setting
Address Range
Position Phase
OW03 Function Settings 1 − − 0011 hex
Speed Torque
 Bits 0 to 3: Speed Unit Selection SVC SVR

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.
5.1.5 Speed References on page 5-9
 Bits 4 to 7: Acceleration/Deceleration Rate Unit Selection SVC SVR

Set whether to specify accelerations and decelerations as acceleration/deceleration rates or
acceleration/deceleration time constants.
0: Reference units/s2.
1: ms (default).
 Bits 8 to B: Filter Type Selection SVC SVR

Set the acceleration/deceleration filter type.
0: No filter (default).
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.
4.2.13 CHG_FILTER (Change Filter Type) on page 4-69
However, when bit A (SERVOPACK Parameter Auto-Write) in fixed parameter No. 1 is 0
(Enabled), the filter type is changed to the set filter type when reference pulse distribution is
completed, even if the CHG_FILTER command is not executed.
3-40
 Bits C to F: Torque Unit Selection SVC SVR

Set the unit for torque references.
0: Percentage of rated torque (1 = 0.01%).
1: Percentage of rated torque (1 = 0.0001%).
Function Settings 2
Register Setting
Address Range
Position Phase
OW04 Function Settings 2 − − 0033 hex
Speed Torque
 Bits 0 to 3: Latch Detection Signal Selection SVC

Set the latch detection signal. The latch signal is input to the SERVOPACK.
This setting is valid when the LATCH (Interpolate with Latch Input) motion command is exe-
cuted 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
Set the external signal to use for external positioning.
0: −
1: −
2: Phase-C pulse
3: /EXT1 (default)
4: /EXT2
5: /EXT3
Function Settings 3 3
Register Setting
Address Range
OW05 Function Settings 3 − − 0000 hex Position Phase
 Bit 1: Disable Phase Reference Calculation SVC

Use this bit to enable or disable phase reference calculations when phase control commands
are executed.
1: Disabled.
Setting Precautions
• Set this bit to 0 (Enabled) when an electronic shaft application is used.
• Set this bit to 1 (Disabled) when an electronic cam application is used.
3-41
 Bit 2: External Positioning Final Travel Distance Write Selection SVC

This bit specifies whether or not to automatically apply the external positioning final travel dis-
tance to the SERVOPACK during external positioning. Set this bit to 0 (Automatically apply) to
write the 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.
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.
 Bit B: Zero Point Return Input Signal SVC

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.
The CPU processes the information of this bit as an input signal, so wiring of a physical input
signal is not necessary.
0: INPUT signal OFF (default).
1: INPUT signal ON.
Servo Command Output Signals

 M-III Vendor-specific Servo Command Output Signal SVC
When the profile is set to Standard Servo, this parameter is used for the SVCMD_IO servo I/O
settings. The settings are output to bytes 10 and 11 of the MECHATROLINK Servo command.
Register Setting
Address Range
M-III Vendor-specific Servo Position Phase

OW06 − − 0000 hex
Command Output Signal Speed Torque
You can use the following functions.

Refer to the following manual for details.
Σ-7-Series MECHATROLINK-III Communications Standard Servo Profile Command Manual (Manual No.: SIEP
S800001 31)
Bits 7 to E are reserved for system use. Do not set these bits.
Important
 High-speed Acceleration/Deceleration Parameter Bank Switching

You can switch between different banks of acceleration/deceleration parameters for position-
ing.
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 SO1 to SO3 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
3-42
 SERVOPACK External Trace Input Control

SERVOPACK external trace input control allows you to control EXT_TRC (External Trace Input),
which serves as the trigger condition to trace the SERVOPACK. Set EXT_TRC (External Trace
Input) in SigmaWin+. After you start tracing in SigmaWin+, set bit F to 1 to turn ON the trigger
to trace the SERVOPACK.
Bit F: EXT_TRC (1: trigger ON: 0: trigger OFF)
Note: The following SERVOPACK and software versions support this function.
• Σ-7-Series SERVOPACK Ver.002C or later
• SigmaWin+ Ver.7.27 or later
• MP3000 Ver.1.10 or later

3
3-43
Motion Commands
 Motion Commands
Set the motion command.
Register Setting
Address Range
Position Phase
OW08 Motion Commands 0 to 39 − 0
Speed Torque
0: NOP (No Operation) SVC SVR

1: POSING (Positioning) SVC SVR
2: EX_POSING (External Positioning) SVC SVR
3: ZRET (Zero Point Return) SVC SVR
4: INTERPOLATE (Interpolation) SVC SVR
5: − (Reserved)
6: LATCH (Interpolate with Latch Input) SVC SVR
7: FEED (Jog) SVC SVR
8: STEP (STEP Operation) SVC SVR
9: ZSET (Set Zero Point) SVC SVR
10: ACC (Change Acceleration Time) SVC
11: DCC (Change Deceleration Time) SVC
12: SCC (Change Filter Time Constant) SVC
13: CHG_FILTER (Change Filter Type) SVC
14: KVS (Change Speed Loop Gain) SVC
15: KPS (Change Position Loop Gain) SVC
16: KFS (Change Feedforward) SVC
17: PRM_RD (Read SERVOPACK Parameter) SVC
18: PRM_WR (Write SERVOPACK Parameter) SVC
19: ALM_MON (Monitor Alarms) SVC
20: ALM_HIST (Monitor Alarm History) SVC
21: ALMHIST_CLR (Clear Alarm History) SVC
22: ABS_RST (Reset Absolute Encoder) SVC
23: VELO (Issue Speed Reference) SVC SVR
24: TRQ (Issue Torque/Force Reference) SVC SVR
25: PHASE (Issue Phase Reference) SVC SVR
26: KIS (Change Position Loop Integral Time Constant) SVC
27: PPRM_WR (Write Non-volatile Parameter) SVC
28 to 33: − (Reserved)
34: EX_FEED (Jog with External Positioning) SVC
35: MEM_RD (Read Memory) SVC
36: MEM_WR (Write Memory) SVC
37: PMEM_RD (Read Non-volatile Memory) SVC
38: PMEM_WR (Write Non-volatile Memory) SVC
39: MLTTRN_SET (Multiturn Limit Setting) SVC
Refer to the following chapter for details on these commands.
3-44
Motion Command Control Flags

 Motion Command Control Flags
Register Setting
Address Range
Motion Command Control Position Phase

OW09 − − 0000 hex
Flags Speed Torque
 Bit 0: Hold Command SVC SVR

The axis decelerates to a stop if this bit is set to 1 while an axis is in motion for a POSING (Posi-
tioning), EX_POSING (External Positioning), STEP (STEP Operation), VELO (Issue Speed Refer-
ence) or TRQ (Issue Torque/Force 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 released, 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 SVR

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), TRQ (Issue
Torque/Force Reference) or EX_FEED (Jog with External Positioning) motion command.
0: Cancel Command OFF (default).
1: Cancel Command ON.

 Bit 2: Travel Direction (JOG/STEP) SVC SVR
Specify the travel direction for the FEED (Jog), STEP (STEP Operation), and EX_FEED (Jog with
External Positioning) motion commands.
0: Forward (default).
1: Reverse.
 Bit 3: Zero Point Return Direction Selection SVC

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).
3
1: Forward.
 Bit 4: Latch Zone Enable SVC

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.
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)
3-45
 Bit 5: Position Reference Type SVC SVR

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 reference.
1: Absolute value specification method.
This method is used to set an absolute position.
 Bit 6: Electronic Cam Phase Compensation Type SVC

Set the reference method for the OL28 setting parameter (Phase Compensation Setting).
This parameter is valid only when the system is used as an electronic cam (i.e., when bit 1 in
OW05 is 1).
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.
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.
 Bit 8: SERVOPACK Parameter Access Selection SVC

Set whether the vendor-specific parameters or the common parameters for each vendor are
used for the commands.
0: Vendor-specific parameters (default).
1: Common parameters.
Motion Subcommands
 Motion Subcommands
Set the motion subcommand that is used with a motion command.
Register Setting
Address Range
Position Phase
OW0A Motion Subcommands 0 to 8 − 0
Speed Torque
0: NOP (No Operation) SVC SVR

1: PRM_RD (Read SERVOPACK Parameter) SVC
2: PRM_WR (Write SERVOPACK Parameter) SVC
3: INF_RD (Read Device Information) SVC
4: SMON (Monitor Status) SVC
5: FIXPRM_RD (Read Fixed Parameter) SVC SVR
6: FIXPRM_CHG (Change Fixed Parameter) SVC
3-46
7: MEM_RD (Read Memory) SVC

8: MEM_WR (Write Memory) SVC
Torque Reference
 Torque/Force Reference Setting or Torque Feedforward Compensa-
tion SVC SVR
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) on page 4-95
• When the INTERPOLATE (Interpolation), VELO (Issue Speed Reference), or PHASE (Issue
Phase Reference) motion command is executed, set the torque feedforward compensation.
Register Setting
Address Range
The unit that
Torque/Force Reference Setting is set in the Position Phase
OL0C or Torque Feedforward Compen- -231 to 231−1 Torque Unit 0
sation Selection bits Speed Torque
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.
 Speed Limit for Torque/Force Reference SVC

Set the speed limit as a percentage of the rated speed when the TRQ (Issue Torque/Force Ref-
erence) motion command is executed. The absolute value of the setting is the speed limit

value.
Register Setting
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. 3
No Speed Limit Speed Limit Specified
Speed Excessive 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
Pn002 = n.x, Pn407, and Pn408 = n.x SERVOPACK parameters
3-47
Speed Reference Setting

 Speed Reference Setting SVC SVR
Set the speed reference.
Register Setting
Address Range
The unit that
is set in the Position Phase
OL10 Speed Reference Setting -231 to 231−1 Speed Unit 3,000
Selection bits Speed
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)
8: STEP (STEP Operation)
34: EX_FEED (Jog with External Positioning)
Setting Precautions
The unit that is set in the Speed Unit Selection bits (OW03 bits 0 to 3) is used for this
parameter.
 Speed Limit SVC

Set the upper speed limit as a percentage.
• Rotary motor: A percentage of the rated rotation speed
• Linear motor: A percentage of the rated speed
This value is an absolute value. It is used in both the forward and reverse directions.
The speed limit that is set is the maximum speed for travel motion command.
Register Setting
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
0 output value
set value
=0
-1 × Speed limit
3-48
Setting Precautions
• The speed limit can be changed during operation. However, if an incorrect setting is made
during operation, 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 per-
formed. (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 commands is executed, a reference is issued to the slave 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 commands is executed, the following alarm occurs and the axis is stopped.
Applicable commands: INTERPOLATE, LATCH, and PHASE
Alarm: Excessive Speed (IL04, Bit 8)
Torque/Force Limit
 Torque/Force Limit SVC
Set the torque limit. The same value is used in both the forward and reverse 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
workpieces.
Register Setting
Address Range

The unit that
OL14 Torque/Force Limit -231 to 231−1 Torque Unit 30,000
Selection bits Speed
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

3
 Second Speed Compensation SVC SVR
Set the speed feedforward compensation when the INTERPOLATE (Interpolation), LATCH
(Interpolate with Latch Input), or PHASE (Issue Phase Reference) motion command is exe-
cuted.
Register Setting
Address Range
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 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.
3-49
Override
 Override SVC
Set the percentage of the OL10 setting parameter (Speed Reference Setting) to output in
increments of 0.01%.
Register Setting
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 deceler-
ation occurs immediately according to the set value.
Speed
100%
75%
50%
Time
10000 5000 7500 10000
Override set value
Position Reference Setting

 Position Reference Setting SVC SVR
Set the position reference.
Register Setting
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).
Related Parameters
OW09 setting parameter, bit 5 (Position Reference Type)
Positioning Completion Width

 Positioning Completion Width SVC
This parameter applies the set value of this parameter to the SERVOPACK parameter.
3-50
Register Setting
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
Completed) in the IW0C monitor parameter changes to 1 (Within positioning completed
range) when the Positioning Completed signal from the slave 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
Position Deviation Distribution completed
(IL1A)
Time
Positioning
Completed Signal Positioning Completion Width (OL1E)
(IW0C, bit 1)
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)

• 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))
NEAR Signal Output Width

 NEAR Signal Output Width SVC
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 feed-
back position is within the width that is set for this parameter. 3
Register Setting
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
3-51
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 Dis-
tribution 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)
Excessive Deviation Detection Value

 Excessive Deviation Detection Value SVC
Set the value to detect an excessive deviation during position control.
Register Setting
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 devia-
tion) 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

 Positioning Completion Check Time SVC
Set the time to detect a Positioning Time Exceeded error.
Register Setting
Address Range
Positioning Completion Check
OW26 0 to 65,535 ms 0 Position Phase
Time
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).
3-52
Speed
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 this parameter is set to 0, the above check is not performed.
Phase Compensation Setting

 Phase Compensation Setting SVC
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) on page 4-100
Register Setting
Address Range
Reference
OL28 Phase Compensation Setting -231 to 231−1 0 Phase

units
Setting Precautions
• Use for an Electronic Shaft
Use this parameter to compensate for references 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
 Latch Zone Lower Limit Setting and 3
Latch Zone Upper Limit Setting SVC
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
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
3-53
 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
• 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
 Precautions for Setting Latch Zones

Latch zones are implemented in a software process in the SVC Function Module. However, the
actual latching is performed by the slave SERVOPACK. Therefore, depending on the transmis-
sion cycle, reference speed, and position deviation, the actual zone may vary from the set
zone. Set a latch zone that provides some leeway.
3-54
Gain and Compensation

 Position Loop Gain SVC
This parameter determines the responsiveness of the SERVOPACK’s position loop.
Register Setting
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.
• 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 KPS (Change Position Loop Gain) motion com-
mand to change the parameter.
 Speed Loop Gain SVC

This parameter determines the responsiveness of the SERVOPACK’s speed loop.
Register Setting
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.
parameters.
parameter application is not enabled, use the KVS (Change Speed Loop Gain) motion com-
mand to change the parameter.
3
 Speed Feedforward Compensation SVC
Use this parameter to reduce positioning time by applying feedforward compensation.
Register Setting
Address Range
Speed Feedforward Compen-
OW30 0 to 32,767 0.01% 0 Position Phase
sation
Setting Precautions
• This parameter is valid for position control.
• Always set this parameter to 0 for phase control.
parameter application is not enabled, use the KFS (Change Feedforward) motion command
to change the parameter.
3-55
 Speed Compensation SVC SVR

Set the speed feedforward amount as a percentage of the rated speed when the INTERPO-
LATE (Interpolate), PHASE (Issue Phase Reference), or LATCH (Latch) motion command is exe-
cuted.
Register Setting
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 (Second Speed Compensation), speed compensation is performed twice.
 Position Loop Integral Time Constant SVC

Set the position loop integral time constant. Use this parameter to improve the following preci-
sion in applications such as electronic cams or shafts.
Register Setting
Address Range
Position Loop Integral Time
OW32 0 to 32,767 ms 0 Position Phase
Constant
Setting Precautions
parameters.
parameter application is not enabled, use the KIS (Change Position Loop Integral Time Con-
stant) motion command to change the parameter.
 Speed Loop Integral Time Constant SVC

The speed loop has an integral element to enable response to minute inputs.
Register Setting
Address Range
Speed Loop Integral Time Con- Position Phase

OW34 15 to 65,535 0.01 ms 2,000
stant Speed
Setting Precautions
• However, this element also causes a delay in the Servo system, adversely affecting respon-
siveness if the time constant is set too large.
parameters.
3-56
 Relationship between SERVOPACK Parameters and Motion Parame-

ters
The above parameters (OW2E to OW34) are applied to the parameters of the SER-
VOPACK as shown in the following block diagram.
SERVOPACK
Acceleration/
deceleration Acceleration: OL 36
processing Deceleration: OL 38
Differential Pn109 B Pn10A

A
(OW30) (None)
Kp Kv
B Vref Current
Filter Pn102 Pn100 M
A loop
(OW2E) (OW2F)
Pn811 or Pn812 FB Ti NTi
(OW3A) Pn11F Pn101
Follow-up (OW32) (OW34)
PG
A
B
Speed
compensation
(OW 31) A: Pn210
B: Pn20E
Acceleration/Deceleration Settings

 Linear Acceleration Rate/Acceleration Time Constant SVC SVR
Set the linear acceleration rate or linear acceleration time constant.
Register Setting
Address Range
The unit that
is set in the
Acceleration/
Linear Acceleration Rate/Accel-
OL36
eration Time Constant 0 to 231−1 Deceleration 0 Position Speed
Rate Unit
Selection bits
is used. 3
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.
 Linear Deceleration Rate/Deceleration Time Constant SVC SVR

Set the linear deceleration rate or linear deceleration time constant.
Register Setting
Address Range
The unit that
is set in the
Acceleration/
Linear Deceleration Rate/Decel-
OL38
eration Time Constant 0 to 231−1 Deceleration 0 Position Speed
Rate Unit
Selection bits
is used.
3-57
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 max-
imum acceleration 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 set-
ting of 0 was 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

Speed
Rate Unit Selection Linear Acceleration
(%) Linear
(OW03. Bits 4 to 7) Rate Deceleration Rate Time
(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.
5.1.6 Acceleration/Deceleration Settings on page 5-11
5.1.7 Acceleration/Deceleration Filter Settings on page 5-14
Filter
 Filter Time Constant SVC SVR
Set the acceleration/deceleration filter time constant.
Register Setting
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.
3-58
parameters.
• 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 command (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.
However, when bit A (SERVOPACK Parameter Auto-Write) in fixed parameter No. 1 is 0 (Enabled), the
filter type is changed to the set filter type when reference pulse distribution is completed, even if the
CHG_FILTER command is not executed.
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/decel-
eration filter and a moving average filter.
• Refer to the following sections for details on acceleration and deceleration parameters.
5.1.6 Acceleration/Deceleration Settings on page 5-11
5.1.7 Acceleration/Deceleration Filter Settings on page 5-14
 Bias Speed for Indexed Deceleration/Acceleration Filter SVR

Set the bias speed for the indexed deceleration/acceleration filter.
Register Setting
Address Range
The unit that
Bias Speed for Indexed Decel-
OW3B 0 to 32,767 Speed Unit 0
eration/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. 3
Origin Return
 Zero Point Return Method SVC
Set the operation method when the ZRET (Zero Point Return) motion command is executed.
Register Setting
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 origin
return operation. Refer to the following section for details on these operation methods.
ZRET (Zero Point Return) on page 4-21
• With an absolute encoder, the axis is returned to the origin of the machine coordinate system
regardless of which method is used.
3-59
 Zero Point Position Output Width SVC SVR

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
Address Range
Zero Point Position Output Reference
OW3D 0 to 65,535 100 Position
Width units
 Approach Speed SVC

Set the travel speed for the origin return operation after the deceleration limit switch (DEC) sig-
nal is detected.
Register Setting
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.
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.
 Creep Speed SVC

Set the creep speed for the origin return operation after a ZERO signal is detected.
Register Setting
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.
Setting Precautions
 Zero Point Return Travel Distance SVC

Set the distance from where the origin signal is detected to the origin.
Register Setting
Address Range
Zero Point Return Travel Dis- Reference
OL42
tance -231 to 231−1 units
0 Position
3-60
 Origin Return Example

A typical example of an origin return operation is shown below.
Refer to the following section for details on the origin return operation.
Speed
Zero Point Return (OL10)
Travel Distance
(OL42)
Approach Speed
(OL3E)
Zero Point Creep Speed
Position (OL40)
Output Width
Position
Start
DEC signal
Phase-C pulse
STEP Travel Distance

 STEP Travel Distance SVC SVR
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) on page 4-56
Register Setting
Address Range
Reference
0 to 231−1 Position

OL44 STEP Travel Distance 1,000
units
Rated speed
Speed
Speed
Reference
Setting
(OL10)
STEP Travel
Distance
(OL44)
Time
(OL36) (OL38)
3
3-61
External Positioning Final Travel Distance

 External Positioning Final Travel Distance SVC
Set the travel distance from when the external signal is input for the EX_POSING (External Posi-
tioning) or EX_FEED (Jog with External Positioning) motion command. Refer to the following
section for details on the EX_POSING command.
4.2.3 EX_POSING (External Positioning) on page 4-14
Refer to the following section for details on the EX_FEED command.
4.2.28 EX_FEED (Jog with External Positioning) on page 4-108
Register Setting
Address Range
External Positioning Final Travel Reference
OL46
Distance -231 to 231−1 units
0 Position
Rated speed
Speed Speed
Reference Setting
(OL10) External Positioning
Final Travel Distance
(OL46)
Time
External position- (OL36)
ing signal (OL38)
Coordinate System Settings

 Zero Point Position Offset in Machine Coordinate System SVC SVR
To set the origin of the machine coordinate system, set the offset to compensate for deviation
from the origin of the absolute encoder.
Register Setting
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. Set this parameter correctly to match the machine.
• Refer to the following section for details on the use of the coordinate system settings.
Setting the Origin of the Machine Coordinate System on page 5-19
 Working Coordinate System Offset SVC SVR

Set the offset to use to shift the working coordinate system.
Register Setting
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. Set this parameter correctly to match the machine.
3-62
 Number of POSMAX Turns Preset Data SVC SVR

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
Address Range
Number of POSMAX Turns Pre- Position Phase

OL4C
set Data -231 to 231−1 rev 0
Speed Torque
Setting Precautions
• Refer to the following section for details on the use of the coordinate system settings.
5.2 Absolute Encoders on page 5-17
SERVOPACK User Monitor Setting

 SERVOPACK User Monitor Setting SVC
Register Setting
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 (SERVO-
PACK 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. 3
9 to B: Reserved.
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
parameter 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
parameter No. 8A.
E: OMN1 (optional monitor 1).
The monitor data that is specified in the parameter is reported. The monitor data depends on
the product specifications.
F: OMN2 (optional monitor 2).
The monitor data that is specified in the parameter is reported. The monitor data depends on
the product specifications.
3-63
 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
 SERVOPACK Alarm Monitor Number SVC
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.
Register Setting
Address Range
SERVOPACK Alarm Monitor Position Phase

OW4F 0 to 9 − 0
Number Speed Torque
 SERVOPACK Parameter Number SVC

Specify the number of the SERVOPACK parameter to process for the following motion com-
mands.
• PRM_RD (Read SERVOPACK Parameter)
• PRM_WR (Write SERVOPACK Parameter)
• PPRM_WR (Write Non-volatile Parameter)
Register Setting
Address Range
SERVOPACK Parameter Num- Position Phase

OW50 0 to 65,535 − 0
ber Speed Torque
 SERVOPACK Parameter Size SVC

Specify the size, in words, of the SERVOPACK parameter to process 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)
Register Setting
Address Range
Position Phase
OW51 SERVOPACK Parameter Size 1 or 2 word 1
Speed Torque
3-64
 SERVOPACK Parameter Set Value SVC

Set the SERVOPACK parameter value to be written for the following motion commands.
Register Setting
Address Range
SERVOPACK Parameter Set Position Phase

OL52 -231 to 231−1 − 0
Value Speed Torque
 Auxiliary SERVOPACK Parameter Number SVC

Specify the number of the SERVOPACK parameter to process for the following motion sub-
commands.
Register Setting
Address Range
Auxiliary SERVOPACK Position Phase

OW54 0 to 65,535 − 0
Parameter Number Speed Torque

 Auxiliary SERVOPACK Parameter Size SVC
Specify the size, in words, of the SERVOPACK parameter to process for the following motion
subcommands.
Register Setting
3
Address Range

OW55 1, 2 word 1
Parameter Size Speed Torque
 Auxiliary SERVOPACK Parameter Set Value SVC

Set the SERVOPACK parameter value to be written for the following motion subcommands.
Register Setting
Address Range

OL56 -231 to 231−1 − 0
Parameter Set Value Speed Torque
3-65
 Address Setting SVC

Set the memory address for the following motion commands.
• PMEM_RD (Read Non-volatile Memory)
Register Setting
Address Range
0 to Position Phase
OL58 Address Setting FFFFFFFF − 0
hex Speed Torque
 Device Information Selection Code SVC

Set the information to read with the INF_RD (Read Device Information) motion subcommand.
The information that is read is reported in the area from the IW70 monitor parameter
onward.
Register Setting
Address Range
Device Information Selection Position Phase

OW5B 0 to 65,535 − 0
Code Speed Torque
00 hex: Disabled
02 hex: Device code
Auxiliary Settings
 Fixed Parameter Number SVC SVR
Set the number of the fixed parameter to read with the FIXPRM_RD (Read Fixed Parameter)
motion subcommand.
The information that is read is reported in the IW56 monitor parameter (Fixed Parameter
Monitor).
FIXPRM_RD (Read Fixed Parameter) on page 4-134
Register Setting
Address Range
Position Phase
OW5C Fixed Parameter Number 0 to 65,535 − 0
Speed Torque
3-66
Absolute Infinite-length Position Management Information

 Power OFF Encoder Position (Lower 2 Words) and Power OFF Encoder
Position (Upper 2 Words) SVC
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 set-
ting 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
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.
 Power OFF Pulse Position (Lower 2 Words) and

Power OFF Pulse Position (Upper 2 Words) SVC
encoder is used.
The axis pulse position that is managed internally by the MP3000 is stored in 4 words.

When bit 7 (Absolute Infinite-length Position Information Load Request) in the OW00 set-
ting 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).
Register Setting
Address Range
Power OFF Pulse Position Position Phase

OL62
(Lower 2 Words) -231 to 231−1 pulse 0
Speed Torque
Power OFF Pulse Position Position Phase

OL64
(Upper 2 Words) -231 to 231−1 pulse 0
Speed Torque
3
Setting Precautions
Set this parameter to 0 for linear motors.
• Encoder Position
The encoder position is the absolute encoder position information (Multiturn data × Number of
encoder pulses + Initial incremental pulses (position within one rotation)).
Term 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 MP3000 converted into pulses.
The unit for this position information is pulses.
3-67
Software Limits
 Positive Software Limit SVC
Set the position to detect the software limit in the forward direction for the MP3000.
Register Setting
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 parame-
ter).
• If an axis attempts to move in the forward direction past this position, a positive software limit
details.
 Negative Software Limit SVC

Set the position to detect the software limit in the reverse direction for the MP3000.
Register Setting
Address Range
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 parame-
ter).
• If an axis attempts to move in the reverse direction past this position, a negative software limit
details.
Auxiliary SERVOPACK References

 Auxiliary Address Setting SVC
Set the memory address for the following motion subcommands.
Register Setting
Address Range
0 to Position Phase
OL6A Auxiliary Address Setting – 0
FFFFFFFFH Speed Torque
3-68
3.4.3 Monitor Parameter Details
SERVOPACK Parameters
 User-specified SERVOPACK Parameter Set Value SVC
Set the data to automatically apply to the SERVOPACK parameter specified by fixed parameter
No. 44 (User-specified SERVOPACK Parameter Number).
Register Setting
Address Range
OL70 -231 to 231−1 − 0 −
Parameter Set Value
SERVOPACK Transmission Reference Mode

 Command Buffers for SERVOPACK Transmission Reference
Mode SVC
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 and manual for details.
3.4.1 Fixed Parameter Details on page 3-27 −  Operation Mode Selection on page 3-27
Σ-7-Series AC Servo Drive MECHATROLINK-III Communications
Standard Servo Profile Command Manual (Manual No.: SIEP S800001 31)
Register Setting
Address Range
OW68 Command Buffers for SERVO-

to PACK Transmission Reference − − 0 −
OW7F Mode

This section provides details on each of the monitor parameters.
Information • Refer to the following section for a list of the monitor parameters.
3.3.3 Monitor Parameter Table on page 3-18
• The boxes () in “IW00” are determined by the circuit number and the axis num-
3.2 Motion Parameter Registers on page 3-3 3
RUN Status
 RUN Status
Register
Name Range Unit
Address
IW00 RUN Status − −
 Bit 0: Motion Operation Ready SVC SVR

0: Motion operation not ready.
1: Motion operation ready.
This bit changes to 1 when the SVC or SVR 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.
3-69
• 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 is open on the MPE720.
Precautions
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 SVR

0: Stopped.
1: Running with Servo ON.
This bit is 1 while the axis is in the Servo ON state.
 Bit 2: System Busy SVC

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 following 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

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

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 setting parameter.
Out-of-range Parameter Number

 Out-of-range Parameter Number SVC SVR
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 is the value of 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 −
3-70
Warnings
 Warnings
Register
Name Range Unit
Address
IL02 Warnings − −
 Bit 0: Excessive Deviation SVC

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 SVR

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 SVR

0: In setting range.
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

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 SVR 3

0: No command setting error.
1: Command setting error.
This bit changes to 1 when an unusable motion command is set.
 Bit 6: Positive Overtravel SVC

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).
3-71
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

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

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

0: Communications normal.
1: Communications error detected.
This bit changes to 1 when an error occurs in communications with the slave SERVOPACK.
This bit is cleared automatically when communications are restored to normal operation.
 Bit A: SERVOPACK Stop Signal Active SVC

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.
Alarms
 Alarms
Register
Name Range Unit
Address
IL04 Alarms − −
 Bit 0: Servo Driver Error SVC

0: No SERVOPACK alarm.
1: SERVOPACK alarm occurred.
This bit changes to 1 when an alarm occurs in the SERVOPACK.
You can view the details of the alarm in the IW2D monitor parameter (SERVOPACK Alarm
Code).
 Bit 1: Positive Overtravel SVC

0: No positive overtravel.
1: Positive overtravel occurred.
This bit changes to 1 when a positive overtravel signal is input and a travel motion command is
executed in the forward direction.
3-72
 Bit 2: Negative Overtravel SVC

0: No negative overtravel.
1: Negative overtravel occurred.
This bit changes to 1 when a negative overtravel signal is input and a travel motion command is
executed in the reverse direction.
 Bit 3: Positive Software Limit SVC

0: Positive software limit not exceeded.
1: Positive software limit exceeded.
This bit changes to 1 when a travel 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 origin return operation is completed.
 Bit 4: Negative Software Limit SVC

0: Negative software limit not exceeded.
1: Negative software limit exceeded.
This bit changes to 1 when a travel 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 origin return operation is completed.

 Bit 5: Servo OFF SVC SVR

0: Servo ON.
1: Servo OFF.
This bit changes to 1 if a travel motion command is executed when the Servomotor’s power is
turned OFF.
 Bit 6: Positioning Time Exceeded SVC

0: No timeout.
1: Timeout occurred. 3
This bit changes to 1 when positioning is not completed within the specified time in the
OW26 setting parameter (Positioning Completion Check Time) after distribution is com-
pleted.
 Bit 7: Excessive Positioning Travel Distance SVC

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

0: Normal speed.
1: Excessive speed.
This bit changes to 1 when a speed reference is issued that exceeds the valid setting range.
3-73
 Bit 9: Excessive Deviation SVC

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).
 Bit A: Filter Type Change Error SVC

0: No change error.
1: Change error occurred.
This bit changes to 1 if the filter type is changed while distribution is not completed.
 Bit B: Filter Time Constant Change Error SVC

0: No change error.
1: Change error occurred.
This bit changes to 1 if the filter time constant is changed while distribution is not completed.
 Bit D: Zero Point Unset SVC

0: Zero point is set.
1: Zero point unset error occurred.
This bit changes to 1 if a travel 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 origin is
not set.
 Bit 10: SERVOPACK Synchronized Communications Error SVC

0: No synchronized communications error.
1: Synchronized communications error occurred.
This bit changes to 1 when an error in synchronized communications with the slave SERVO-
PACK is detected.
 Bit 11: SERVOPACK Communications Error SVC

0: No consecutive synchronized communications errors.
1: Consecutive synchronized communications errors occurred.
This bit changes to 1 when an error in synchronized communications with the slave SERVO-
PACK is detected twice in succession.
 Bit 12: SERVOPACK Communications Timeout Error SVC

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 slave SERVOPACK is not com-
pleted within the specified time.
 Bit 13: Excessive Absolute Encoder Rotations SVC

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 Function Module.
Precautions
• This bit 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.
3-74
 Bit 16: Scan Setting Error SVC

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

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 con-
ditions such as the transmission 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 supplies to the MP3000 OFF and ON again or reset the net-
work (bit C in OW00).
 Bit 1D: Detected SERVOPACK Model Error SVC

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

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.
 Bit 1F: Connected Encoder Model Error SVC

0: Match.
1: Mismatch.
This bit changes to 1 when the encoder type set in the SVC definition does not match the con-
nected encoder type.
Motion Command Response Code 3

 Motion Command Response Code SVC SVR
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).
3-75
Motion Command Status

 Motion Command Status
Register
Name Range Unit
Address
IW09 Motion Command Status − −
 Bit 0: Command Execution Flag (BUSY) SVC SVR

This bit indicates the motion command execution status.
Refer to the timing charts for the individual commands in the following chapter for details.
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 SVR

0: Command hold not completed.
1: Command hold completed.
This bit changes to 1 when the command hold is completed.
 Bit 3: Command Error End (FAIL) SVC SVR

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.
3-76
 Bit 7: Absolute Encoder Reset Completed SVC

0: Initialization not completed.
1: Initialization completed.
This bit changes to 1 after execution of the ABS_RST (Reset Absolute Encoder) motion com-
mand is completed.
 Bit 8: Command Execution Completed (COMPLETE) SVC SVR

0: Normal execution not completed.
1: Normal execution completed.
This bit changes to 1 when execution of a motion command is completed normally.
Motion Subcommand Response Code

 Motion Subcommand Response Code SVC SVR
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 param-
eters.
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

 Motion Subcommand Status
Register
Name Range Unit
Address
IW0B Motion Subcommand Status − −
3
 Bit 0: Command Execution Flag (BUSY) SVC SVR
This bit indicates the motion subcommand execution status.
0: READY (Completed).
1: BUSY (Processing).
This bit changes to 1 when a command is currently being executed or processed.
 Bit 3: Command Error End (FAIL) SVC SVR

0: Completed normally.
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 SVR

0: Normal execution not completed.
1: Normal execution completed.
This bit changes to 1 when execution of a motion subcommand is completed normally.
3-77
Position Management Status

 Position Management Status
Register
Name Range Unit
Address
IW0C Position Management Status − −
 Bit 0: Distribution Completed (DEN) SVC SVR

0: Distributing pulses.
1: Distribution completed.
This bit changes to 1 when distribution is completed for a travel motion command. This bit
changes to 1 when the SERVOPACK finishes distribution (bit C in IL28 is set to 1), and all
Motion Control Function Module internal processing related to distribution is completed.
 Bit 1: Positioning Completed (POSCOMP) SVC SVR

0: Outside positioning completed range.
1: Within positioning completed range.
This bit changes to 1 when distribution is completed and the current position is within the posi-
tioning completed range (i.e., when bit E of IL28 is 1).
 Bit 2: Latch Completed (LCOMP) SVC

0: Latch not complete.
1: Latch completed.
This bit changes to 0 when a new latch command is executed and changes to 1 when the latch
is completed. The latched position is reported in the IL18 monitor parameter (Machine
Coordinate System Latch Position (LPOS)).
 Bit 3: Near Position (NEAR) SVC SVR

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: This bit changes to 1 when distribution is completed (bit 0 in
IW0C).
• When OL20 is not 0: This bit changes to 1 if within the range calculated by the follow-
ing 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
 Bit 4: Zero Point Position (ZERO) SVC SVR

0: Outside zero point position range.
1: Within zero point position range.
This bit changes to 1 when an origin 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 origin position.
3-78
 Bit 5: Zero Point Return/Setting Completed (ZRNC) SVC SVR

0: Zero point return/setting not completed.
1: Zero point return/setting completed.
This bit changes to 1 after the completion of an origin return/setting.
This bit changes to 0 when, during an origin return/setting operation, communications with the
Servo Section or a slave SERVOPACK are stopped and reestablished.
 Bit 6: Machine Locked (MLKL) SVC

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
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.
 Bit 9: POSMAX Turn Preset Completed (TPRSE) SVC SVR

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 parameter (Number of POSMAX Turns Preset Data).
Precautions
This parameter is not valid for linear motors.
Position Information
 Machine Coordinate System Target Position (TPOS) SVC SVR
This parameter reports the target position in the machine coordinate system managed by the 3
Motion Control 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 (Inter-
polate with Latch Input) 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-length axis).
3-79
 Machine Coordinate System Calculated Position (CPOS) SVC SVR

This parameter reports the calculated position in the machine coordinate system managed by
the Motion Control Function Module.
Register
Name Range Unit
Address
Machine Coordinate System Calculated Position
IL10
(CPOS) -231 to 231−1 Reference units
Precautions
• The position data that is stored in this parameter is the target position for each scan.
• 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).
Information Refer to the following section when using an absolute encoder.
 Machine Coordinate System Reference Position (MPOS) SVC SVR

This parameter reports the reference position in the machine coordinate system managed by
Register
Name Range Unit
Address
Machine Coordinate System Reference Position
IL12
(MPOS) -231 to 231−1 Reference units
Precautions
• This data is not updated when the machine is locked. (When the machine is locked, the posi-
tion reference data is not output externally.)
• When the machine is not locked, this parameter has the same value as the IL10 moni-
tor parameter (Machine Coordinate System Calculated Position (CPOS)).
 32-bit DPOS (DPOS) SVC SVR

This parameter reports the reference position in the machine coordinate system managed by
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 param-
eter 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 Selection) in fixed parameter No. 1.
3-80
 Machine Coordinate System Feedback Position (APOS)

SVC SVR
This parameter reports the feedback position in the machine coordinate system managed by
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 exe-
cuted.
• 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).
 Machine Coordinate System Latch Position (LPOS) SVC

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

 Position Deviation (PERR)

SVC
This parameter reports the following deviation (internal Servo reference position − feedback
position, converted to reference units) managed by the SVC Function Module.
Register
Name Range Unit
Address
IL1A Position Deviation (PERR) -231 to 231−1 Reference units
 Target Position Increment Monitor (PDV) SVR

This parameter reports the distribution amount for each scan.
Register
Address
Name Range Unit 3
IL1C Target Position Increment Monitor (PDV) -231 to 231−1 Reference units
 Number of POSMAX Turns SVC SVR

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.
3-81
Machine Coordinate System

This is the basic coordinate system that is set based on the execution of the ZRET (Zero Point
Return) or ZSET (Set Zero Point) command. The MP3000 manages positions using this machine
Term coordinate system.
Reference Monitors
 Speed Reference Output Monitor SVC
This parameter reports the speed reference value that is currently being output. This parameter
monitors the speed that is output to the servo.
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.
 M-III Servo Command Input Signal Monitor SVC

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. 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. Bit 13: ZSPD
Bit 9: BRK_ON Bits 14 to 16: Reserved.
Bit A: P-SOT Bits 17 to 1F: Vendor Specific
 M-III Servo Command Status SVC

This parameter reports the Servo command information that was input to the MECHA-
TROLINK-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. Bit D: SV_ON
Bits 4 and 5: ACCFIL Bits E and F: Reserved.
Bits 6 and 7: Reserved. 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
3-82
SERVOPACK Status
 M-III Command Status SVC
Register
Name Range Unit
Address
IW2C M-III Command Status − −
 Bit 0: Drive Alarm (D_ALM)

0: No drive alarm.
1: Drive alarm occurred.
 Bit 1: Drive Warning (D_WAR)

0: No drive warning.
1: Drive warning occurred.
 Bit 2: Command Ready (CMDRDY)

0: Commands cannot be received.
1: Commands can be received.
 Bit 3: Alarm Clear Execution Completed (ALM_CLR_CMP)

0: Alarms cleared.
1: Alarms not cleared.
 Bits 6 and 7: Echo-back of Command ID (RCMD_ID)

These bits report the echo-back value of the command ID of a MECHATROLINK command.

 Bits 8 to B Command Error (CMD_ALM)
These bits show the MECHATROLINK command error status.
Code Meaning
− 0 No alarm
1 Outside data range
2 −
−
Warnings
3
4 −
5 −
6 − 3
7 −
8 Unsupported command received.
A Command execution condition error
Alarms
B Subcommand combination error

C Phase error
D −
E −
F −
3-83
 Bits C to F Communication Error (COMM_ALM)

These bits show the MECHATROLINK communications error status.
Code Meaning
− 0 No alarm
1 FCS error
2 Reference data not received.
Warnings
3 Synchronous frame not received.

4 −
5 −
6 −
7 −
8 FCS error
A Synchronous frame not received.
Alarms
B Synchronization interval error

C WDT error
D −
E −
F −
 SERVOPACK Alarm Code SVC

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

 SERVOPACK User Monitor Information SVC
This parameter reports the monitor selection that was made by the user when using a SERVO-
PACK with MECHATROLINK Communications.
Register
Name Range Unit
Address
IW2F SERVOPACK User Monitor Information − −
• Bits 0 to 3: Monitor 1 (Cannot be set.)
• Bits 4 to 7: Monitor 2
• Bits 8 to B: Monitor 3 (Cannot be set.)
• Bits C to F: Monitor 4
SERVOPACK Information
 SERVOPACK User Monitor 2 SVC
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 −
3-84
 SERVOPACK User Monitor 4 SVC

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 −
 SERVOPACK Parameter Number SVC

This parameter reports the number of the SERVOPACK parameter that is being read or written
using the MECHATROLINK command area.
Register
Name Range Unit
Address
IW36 SERVOPACK Parameter Number 0 to 65,535 −
 Auxiliary SERVOPACK Parameter Number SVC

This parameter reports the number of the SERVOPACK parameter that is being read or written
using the MECHATROLINK subcommand area.
Register
Name Range Unit
Address
IW37 Auxiliary SERVOPACK Parameter Number 0 to 65,535 −

 SERVOPACK Parameter Read Data SVC
This parameter reports the contents of the SERVOPACK parameter that was read using the
MECHATROLINK command area.
Register
Name Range Unit
Address
IL38 SERVOPACK Parameter Read Data -231 to 231−1 −
 Auxiliary SERVOPACK Parameter Read Data SVC

3
This parameter reports the contents of the SERVOPACK parameter that was read using the
MECHATROLINK subcommand area.
Register
Name Range Unit
Address
IL3A Auxiliary SERVOPACK Parameter Read Data -231 to 231−1 −
 Motor Type SVC

This parameter reports the type of the motor that is actually connected.
Register
Name Range Unit
Address
IW3F Motor Type 0 or 1 −
0: Rotary motor
1: Linear motor
3-85
 Feedback Speed SVC SVR

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 Coordi-
nate 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 -2 31
to 2 −1
31
Selection bits is
used.
Precautions
 Torque/Force Reference Monitor SVC SVR

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
Selection bits is used.
The setting unit selected in bits C to F (Torque Unit Selection) of the OW03 setting
parameter is used for this parameter. In order to execute control correctly, it is necessary to set
bits C to F (Torque Unit Selection) in the OW03 setting parameter and the resolution of
the torque reference of the slave SERVOPACK. The following sections give the setting meth-
ods.
<Common Parameter No. 48 Setting>
Common parameter No. 48 (Torque Base Unit) can be set in one of two ways: either manually
or automatically. 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
Flag 1) to 0 (Set by user), you must set common parameter No. 48 manually.
Common
Name Setting Range Default When Enabled
Parameter No.
48 Torque Base Unit -5 to 0 0 After restart
Note: 1. If you use a servo amplifier from another company, set the value of n in the following formula.
Setting unit for Torque Unit (servo common parameter No. 47) × 10n
2. To control appropriately, set common parameter No. 48 so that the following relationship holds.
OW03 bit C to F setting ≥ Common parameter No. 48 setting
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
Set bit D (Torque Base Unit of SERVOPACK) of fixed parameter No. 1 (Function Selection Flag
1) to 1 (Set by system). The MP3000 will automatically set common parameter No. 48 (Torque
Base Unit) to -4.
3.4 Motion Parameter Details ‒  Function Selection Flags 1‒  Bit B: User-specified SERVOPACK Parameter Auto-Write on page
3-30
3-86
Auxiliary Information
 Fixed Parameter Monitor SVC SVR
This parameter reports the data of the specified fixed parameter number when bit 5 (Read
Fixed Parameter) is specified for the OW0A setting parameter (Motion Subcommands).
Register
Name Range Unit
Address
IL56 Fixed Parameter Monitor -231 to 231−1 −
 Device Information Monitor Code SVC

This parameter reports the code for the information that was read with the INF_RD (Read
Device Information) motion subcommand.
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

 Power OFF Encoder Position (Lower 2 Words) and
Power OFF Encoder Position (Upper 2 Words) SVC
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) -2 31
to 2 −1
31 pulse
 Power OFF Pulse Position (Lower 2 Words) and

Power OFF Pulse Position (Upper 2 Words) SVC
encoder is used. 3
The axis pulse position that is managed internally by the MP3000 is always 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) -2 31
to 2 −1
31 pulse
3-87
Reserved for Future Use

 Device Information Monitor Data SVC
This data is 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
SERVOPACK Transmission Reference Mode

 Response Buffers for SERVOPACK Transmission Reference
Mode SVC
This area 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).
3.4.1 Fixed Parameter Details on page 3-27 − Operation Mode Selection on page 3-27
Register
Name Range Unit
Address
IW68
Response Buffers for SERVOPACK Transmission
to − −
Reference Mode
IW7F
3-88
3.5 Automatically Updated Parameters
3.5.1 Automatically Updated Parameters When a MECHATROLINK Connection Is Established

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 setting parameters,
fixed parameters, and fixed value SERVOPACK parameters provided in the MP3000. Some of
the SERVOPACK parameters are automatically written to the MP3000 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 MP3000 parameters.
Chapter 3 Parameters for Motion Control
Refer to the manual for your SERVOPACK for details on the SERVOPACK parameters.
3.5.1 Automatically Updated Parameters When a MECHA-

TROLINK Connection Is Established
Some setting parameters are automatically written to the Servo common parameters of the
SERVOPACK when a connection is established between the MP3000 and the SERVOPACK,
such as after the power supply is turned ON or when alarms are cleared following a communi-
cations interruption.
Automatically Updated Parameters That Are Not Affected

by the Parameter Auto-write Setting
The MP3000 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.

MP3000 SERVOPACK
Fixed Values Servo Common Parameters
Name Value No. Name
Speed Unit Selec- →
Reference units/s 41 Speed Unit
tion
Acceleration Unit →
Selection Reference units/s2 45 Acceleration Unit
Torque Unit Selec- Percentage of rated → 47 Torque Unit

tion torque
This write operation occurs regardless of the setting of bit A (SERVOPACK Parameter Auto-Write) 3
in fixed parameter No. 1.
Important
3-89
3.5.1 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 MP3000 parameter settings shown in the following table on the left are automatically writ-
when a MECHATROLINK connection is established.
MP3000 SERVOPACK
Setting Parameters Servo Common Parameters
Register
Name No. Name/Description
Address
Positioning Completion Width OL1E → 66 In-position Range
Position Loop Gain OW2E → 63 Position Loop Gain
Speed Loop Gain OW2F → 61 Speed Loop Gain
Speed Feedforward Compen- →
OW30 64 Feed Forward Compensation
sation
Position Loop Integral Time →
OW32 65 Position Loop Integral Time Constant
Constant
Speed Loop Integral Time Con- →
OW34 62 Speed Loop Integral Time Constant
stant
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 (Movement Average Time)
3-90
3.5.2 Automatically Updated Parameters When a Setting Parameter Is Changed
3.5.2 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 MP3000 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 whenever any change is made to those setting parameters.
MP3000 SERVOPACK
Register
Address
Positioning Completion Width OL1E → 66 In-position Range
Position Loop Gain OW2E → 63 Position Loop Gain
Speed Loop Gain OW2F → 61 Speed Loop Gain
Speed Feedforward Compen- →
OW30 64 Feed Forward Compensation
sation
Position Loop Integral Time →
OW32 65 Position Loop Integral Time Constant
Constant
Speed Loop Integral Time Con- →
OW34 62 Speed Loop Integral Time Constant
stant
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)
... 81 (Exponential Function Acceleration/
Deceleration Time Constant)
When Set to 0 (None) or 2
(Moving average filter)

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).
3-91
3.5.3 Automatically Updated Parameters When a Motion Command Is Executed
3.5.3 Automatically Updated Parameters When a Motion

Command Is Executed
Some setting parameters are automatically written to the SERVOPACK Servo common param-
eters when the MP3000 starts the execution of a motion command.
Automatically Updated Parameters That Are Not Affected

by the Parameter Auto-write Setting
The MP3000 parameter settings shown in the following table on the left are automatically writ-
when the MP3000 starts the execution of motion commands.
MP3000 SERVOPACK
Register
Name No. Name Description
Address
Automatically updated when the ZRET
→
Zero Point Return
Approach Speed OL3E 84 command is executed for DEC1 + phase-
Approach Speed
C pulse or DEC1 + ZERO signal.
→
Zero Point Return
Creep Speed OL40 85 command is executed for DEC1 + phase-
Creep Speed
C pulse or DEC1 + ZERO signal.
command is executed for DEC1 + phase-
Zero Point Return →
Final Travel for C pulse, DEC1 + ZERO signal, ZERO sig-
OL42 86
Travel Distance Zero Point Return nal, phase-C pulse, C pulse only, P-OT +
C pulse, HOME LS + C pulse, or INPUT +
C pulse.
External Position- Final Travel for
→
Automatically updated when the EXPOS-
ing Final Travel OL46 83 External Input
ING or EX_FEED command is executed.
Distance Positioning
This write operation occurs regardless of the setting of bit A (SERVOPACK Parameter Auto-Write)
in MP3000 fixed parameter No. 1.
Important
Automatically Updated Parameters When the Auto-write

Setting Is Enabled
When bit A (SERVOPACK Parameter Auto-Write) in fixed parameter No. 1 on the MP3000 is set
to 0 (Enabled), the MP3000 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 MP3000 begins execution of a motion command.
MP3000 SERVOPACK
Register
Name No. Description
Address
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)
... 81 (Exponential Function Accelera-
tion/Deceleration Time Constant)
When Set to 0 (None) or 2 (Moving
Average Filter)
3-92
3.5.4 Parameters Automatically Updated during Self Configuration
3.5.4 Parameters Automatically Updated during Self

Configuration
The fixed values in the MP3000 are written to the SERVOPACK EEPROM or RAM during self-
configuration as shown below. The SERVOPACK parameters are also written to the MP3000’s
setting parameters.
SERVOPACK and MP3000 parameters may be overwritten when self configuration is performed.
Important
Writing Parameters from the MP3000 to the SERVOPACK

The following settings are written regardless of the setting of bit A (SERVOPACK Parameter
Auto-Write) in fixed parameter No. 1.
MP3000 SERVOPACK
Name Set Value No. Name/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 Numera-
1* → 21 Electronic Gear Ratio (Numerator)
tor
Servo Electronic Gear Ratio Denomi-
1 → 22 Electronic Gear Ratio (Denominator)
nator

Fixed Monitor Selection 1 → 87 Monitor Select 1
* When using a 24-bit encoder, the set value is 16.
Information The above settings are not written for axes that are already defined.
Writing Parameters from the SERVOPACK to the MP3000

The following settings are written when bit A (SERVOPACK Parameter Auto-Write) in fixed
parameter No. 1 is set to 0 (Enabled).
3
MP3000 SERVOPACK
Register
Name No. Name
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 Feed Forward Compensation
Position Loop Integral Time Con-
OW32 ← 65 Position Loop Integral Time Constant
stant
Speed Loop Integral Time Constant OW34 ← 62 Speed Loop Integral Time Constant
Filter Time Constant OW3A ← 82 Movement Average Time
3-93
Motion Control
Program Commands
and Instructions
4
This chapter describes the motion commands required to
write ladder programs and the motion language instruc-
tions required to write motion programs.
4.1 Commands . . . . . . . . . . . . . . . . . . . . . . . . . 4-3

4.1.1 Motion Commands . . . . . . . . . . . . . . . . . . . . . . . 4-3
4.1.2 Motion Subcommands . . . . . . . . . . . . . . . . . . . . 4-6
4.2 Motion Command Details . . . . . . . . . . . . . . 4-7

4.2.1 NOP (No Operation) . . . . . . . . . . . . . . . . . . . . . . 4-7
4.2.2 POSING (Positioning) . . . . . . . . . . . . . . . . . . . . . 4-7
4.2.3 EX_POSING (External Positioning) . . . . . . . . . . 4-14
4.2.4 ZRET (Zero Point Return) . . . . . . . . . . . . . . . . . 4-21
4.2.5 INTERPOLATE (Interpolation) . . . . . . . . . . . . . . 4-43
4.2.6 LATCH (Interpolate with Latch Input) . . . . . . . . . 4-47
4.2.7 FEED (Jog) . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-51
4.2.8 STEP (STEP Operation) . . . . . . . . . . . . . . . . . . . 4-56
4.2.9 ZSET (Set Zero Point) . . . . . . . . . . . . . . . . . . . . 4-61
4.2.10 ACC (Change Acceleration Time) . . . . . . . . . . . 4-63
4.2.11 DCC (Change Deceleration Time) . . . . . . . . . . . 4-65
4.2.12 SCC (Change Filter Time Constant) . . . . . . . . . . 4-67
4.2.13 CHG_FILTER (Change Filter Type) . . . . . . . . . . . 4-69
4.2.14 KVS (Change Speed Loop Gain) . . . . . . . . . . . . 4-71
4.2.15 KPS (Change Position Loop Gain) . . . . . . . . . . . 4-73
4.2.16 KFS (Change Feedforward) . . . . . . . . . . . . . . . . 4-75
4.2.17 PRM_RD (Read SERVOPACK Parameter) . . . . . 4-77
4.2.17 PRM_RD (Read SERVOPACK Parameter) . . . . . 4-77
4.2.18 PRM_WR (Write SERVOPACK Parameter) . . . . . 4-79
4.2.19 ALM_MON (Monitor Alarms) . . . . . . . . . . . . . . . 4-81
4.2.20 ALM_HIST (Monitor Alarm History) . . . . . . . . . . 4-83
4.2.21 ALMHIST_CLR (Clear Alarm History) . . . . . . . . . 4-85
4.2.22 ABS_RST (Reset Absolute Encoder) . . . . . . . . . 4-87
4.2.23 VELO (Issue Speed Reference) . . . . . . . . . . . . . 4-90
4.2.24 TRQ (Issue Torque/Force Reference) . . . . . . . . . 4-95
4.2.25 PHASE (Issue Phase Reference) . . . . . . . . . . . 4-100
4.2.26 KIS (Change Position Loop Integral Time
Constant) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-104
4.2.27 PPRM_WR (Write Non-volatile Parameter) . . . . 4-106
4.2.28 EX_FEED (Jog with External Positioning) . . . . . 4-108
4.2.29 MEM_RD (Read Memory) . . . . . . . . . . . . . . . . . 4-114
4.2.30 MEM_WR (Write Memory) . . . . . . . . . . . . . . . . 4-116
4.2.31 PMEM_RD (Read Non-volatile Memory) . . . . . . 4-118
4.2.32 PMEM_WR (Write Non-volatile Memory) . . . . . 4-120
4.2.33 MLTTRN_SET (Multiturn Limit Setting) . . . . . . . 4-122
4.3 Motion Subcommand Details . . . . . . . . . 4-125

4.3.1 NOP (No Operation) . . . . . . . . . . . . . . . . . . . . . 4-125
4.3.2 PRM_RD (Read SERVOPACK Parameter) . . . . 4-126
4.3.3 PRM_WR (Write SERVOPACK Parameter) . . . . 4-128
4.3.4 INF_RD (Read Device Information) . . . . . . . . . . 4-130
4.3.5 SMON (Monitor Status) . . . . . . . . . . . . . . . . . . 4-132
4.3.6 FIXPRM_RD (Read Fixed Parameter) . . . . . . . . 4-134
4.3.7 FIXPRM_CHG (Change Fixed Parameter) . . . . . 4-136
4.3.8 MEM_RD (Read Memory) . . . . . . . . . . . . . . . . . 4-138
4.3.9 MEM_WR (Write Memory) . . . . . . . . . . . . . . . . 4-140
4.4 Changing the Command . . . . . . . . . . . . . 4-142

4.4.1 Motion Command and Subcommand
Execution Judgment Table . . . . . . . . . . . . . . . . 4-142
4.4.2 Operation after Changing the Motion
Command . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-147
4.5 Motion Language Instructions . . . . . . . . . 4-193

4.1 Commands
4.1.1 Motion Commands
4.1 Commands

Motion commands are used to perform motion control for machine operation. They are used to
write motion control programs as ladder programs.
A distinct command code is assigned to each motion command. Machine operation is started
by setting the OW08 setting parameter to the command code of the motion command to
be used.
The following table lists the motion commands.
Refer to the reference pages for details on these commands.
Com- SVC SVR Refer-
mand Command Name Introduction Function Function ence
Code Modules Modules Page
Nothing is executed. If you
change to this command
during execution of another
command, the current com-
No Operation mand process is canceled. page
0 NOP Refer to the following section  
(No command) 4-7
for details.

4.4.1 Motion Command and
Subcommand Execution
Judgment Table on page 4-
142
Performs positioning to the
specified position at the speci- page
1 POSING Positioning  
fied acceleration/deceleration 4-7
time constant and velocity.
Moves the axis by the external
positioning travel distance from
External Posi- page
2 EX_POSING the current position when an  
tioning 4-14
external positioning signal is
input during positioning.
Returns to the origin in the
machine coordinate system.
Zero Point When an incremental encoder page
3 ZRET  
Return is used, there are 13 different 4-21
methods that you can use for
the origin return operation.
Performs interpolation feeding
page
4 INTERPOLATE Interpolation using positioning data that is  
4-43
distributed from the CPU.
5 − Reserved. − − − − 4
Stores the current position
Interpolate with page
6 LATCH when a latch signal is input  
Latch Input 4-47
during interpolation feeding.
Moves the axis at the specified
page
7 FEED Jog (Jog mode) speed in the specified direction  
4-51
until the command is canceled.
Performs positioning in the
STEP Operation
specified direction at the spec- page
8 STEP (Relative posi-  
ified speed for the specified 4-56
tion mode)
travel distance.
Sets the origin in machine
page
9 ZSET Set Zero Point coordinates and enables the  
4-61
software limits.
Changes the acceleration time
Change Acceler- page
10 ACC for linear acceleration and  
ation Time 4-63
deceleration.
4-3
4.1 Commands

Com- SVC SVR Refer-
Changes the deceleration time
Change Deceler- page
11 DCC for linear acceleration and  
ation Time 4-65
deceleration.
Changes the acceleration/
Change Filter page
12 SCC deceleration filter time con-  
Time Constant 4-67
stant.
Change Filter Changes the acceleration/ page
13 CHG_FILTER  
Type deceleration filter type. 4-69
Change Speed page
14 KVS Changes the speed loop gain.  –
Loop Gain 4-71
Change Posi- Changes the position loop page
15 KPS  –
tion Loop Gain gain. 4-73
Change Feed- Changes the feedforward con- page
16 KFS  –
forward trol gain. 4-75
Read SERVO-
PACK Parameter Reads a SERVOPACK param- page
17 PRM_RD  –
(Read user con- eter. 4-77
stant)
Write SERVO-
PACK Parameter Writes a SERVOPACK parame- page
18 PRM_WR  –
(Write user con- ter. 4-79
stant)
Motion Alarms page
19 ALM_MON Monitors SERVOPACK alarms.  –
(Alarm monitor) 4-81
Monitor Alarm
Monitors the SERVOPACK page
20 ALM_HIST History (Alarm  –
alarm history. 4-83
history monitor)
ALMHIST_- Clear Alarm His- Clears the SERVOPACK alarm page
21  –
CLR tory history data. 4-85
Reset Absolute page
22 ABS_RST Resets the absolute encoder.  –
Encoder 4-87
Issue Speed
Reference Performs operation in Speed page
23 VELO  
(Speed refer- Control Mode. 4-90
ence)
Issue Torque/
Force Refer- Performs operation in Torque/ page
24 TRQ  
ence (Torque/ Force Control Mode. 4-95
Thrust reference)
Issue Phase Ref-
Performs operation in Phase page
25 PHASE erence (Phase  
Control Mode. 4-100
reference)
Change Posi-
tion Loop Inte- Changes the position loop page
26 KIS  –
gral Time integral time constant. 4-104
Constant
Write Non-vola-
Changes a SERVOPACK
tile Parameter page
27 PPRM_WR parameter in non-volatile  –
(Stored parame- 4-106
memory.
ter write)
28 to 33 − Reserved. − − − −
Jog with Exter- Moves the axis by the external
nal Positioning positioning travel distance from
page
34 EX_FEED (Jog mode with the current position when an  –
4-108
external posi- external positioning signal is
tioning) input during jogging.
Reads data from the SERVO- page
35 MEM_RD Read Memory  –
PACK memory. 4-114
4-4
4.1 Commands

Com- SVC SVR Refer-
Writes data to the SERVO- page
36 MEM_WR Write Memory  –
PACK memory. 4-116
Read Non-vola- Reads data from the SERVO- page
37 PMEM_RD  –
tile Memory PACK non-volatile memory. 4-118
Write Non-vola- Writes data to the SERVO- page
38 PMEM_WR  –
tile Memory PACK non-volatile memory. 4-120
Multiturn Limit page
39 MLTTRN_SET Sets the multiturn limit.  –
Setting 4-122
4-5
4.1 Commands
4.1.2 Motion Subcommands
4.1.2 Motion Subcommands

Motion subcommands are used to make settings related to the handling of status information
in motion control. They can be executed at the same time as motion commands.
A distinct command code exists for each motion subcommand. Motion subcommands are
executed by setting the OW0A setting parameter to the command code of the subcom-
mand to be used.
The following table lists the motion subcommands.
Refer to the pages given in the Reference Page Column for details on individual subcommands.
Com- SVC SVR Refer-
Code Module Module Page
Nothing is executed.
No Operation When you do not want to page
0 NOP  
(No command) execute a subcommand, set 4-125
this command code.
This command reads the
specified SERVOPACK
Read SERVO- page
1 PRM_RD parameter and reports con-  –
PACK Parameter 4-126
tents of the parameter to the
monitor parameters.
This command changes the
Write SERVO- page
2 PRM_WR set value of the specified  –
PACK Parameter 4-128
SERVOPACK parameter.
This command reads infor-
Read Device page
3 INF_RD mation on the specified  –
Information 4-130
device.
This command reports the
page
4 SMON Monitor Status status of the SERVOPACK to  –
4-132
the monitor parameters.
This command reads the cur-
rent value of the specified
Read Fixed page
5 FIXPRM_RD fixed parameter and reports  
Parameter 4-134
the contents of the parameter
to the monitor parameters.
This command changes the
Change Fixed page
6 FIXPRM_CHG set value of a specific fixed  –
Parameter 4-136
parameter.
This command reads data
page
7 MEM_RD Read Memory from the SERVOPACK mem-  –
4-138
ory.
This command writes data to page
8 MEM_WR Write Memory  –
the SERVOPACK memory. 4-140
4-6
4.2 Motion Command Details
4.2.1 NOP (No Operation)

This section describes motion commands in detail.

Nothing is executed. If you change to this command during execution of another command,
the current command process is canceled.
4.4.1 Motion Command and Subcommand Execution Judgment Table on page 4-142
Related Parameters
The parameters that are related to this command are listed in the following table.
 Setting Parameters
Register
Name Setting Details
Address
OW08 Motion Commands Set this parameter to 0 for the NOP command.

 Monitor Parameters
Register
Name Monitored Contents
Address
This parameter shows the motion command that is currently in exe-
Motion Command
IW08 cution.
Response Code
This parameter is 0 during execution of the NOP command.
IW09 Command Execution This bit is 1 (Processing) during execution of the NOP 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
IW09
Command Error End occurs during execution of the NOP command. This bit changes to
Bit 3
0 (Completed normally) when another command is executed.
IW09 Command Execution This bit changes to 1 (Normal execution completed) when execution
Bit 8 Completed* of the NOP command ends.
* The command status of the NOP command (Command Execution Completed) is invalid.
4.2.2 POSING (Positioning)

The POSING command positions the axis to the target position according to the specified tar- 4
get 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.
Motion command execution for the target axis IW08 must be 0 and bit 0 in
3
must be completed.* IW09 must be 0.
* Before you change to this command during the execution of another command, you must check whether
the command can be changed and how operation changes when the command is changed. Refer to the
following section for details on changing from another command.
4.4 Changing the Command on page 4-142
4-7
2. Set the following setting parameters.

• OW01, Bit 3 (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 decel-
eration.
3. Set the OW08 setting parameter (Motion Commands) to 1 to execute the POSING
motion command.
4. Set the OL1C setting parameter (Position Reference Setting).
This starts the positioning operation. During positioning, the IW08 monitor parameter (Motion
Command Response Code) will be 1.
When the axis reaches the target near position, bit 3 (Near Position) in the IW0C monitor
parameter will change to 1 (Within near position range).
Then, when the axis reaches the target position, 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
positioning.
• If the target position (OL1C) is changed during positioning and there is not sufficient
distance 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 posi-
tion will be performed.
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
(OL10)
Position
Reference
0
Time (t)
Linear Linear
Acceleration Deceleration
(OL36) (OL38)
Command Execution
A motion command is executed when a command code is set to the Motion Command parame-
ter register (OW08).
Term
4-8
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
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 the axis completely decelerates to a stop, the remaining motion will be canceled and
bit 1 (Positioning Completed) in the IW0C monitor parameter will change to 1 (Within
positioning completed 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 decelerating to a stop, motion is resumed in the direction of the
position reference value set in the OL1C setting parameter (Position Reference Setting).
• The same operation as the Cancel Command operation will be performed if the motion com-
mand code is changed during axis motion.
4-9
Related Parameters
Register
Address
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
OW01 Speed Loop P/PI
P control.
Bit 3 Switch
0: PI control, 1: P control
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 posi-
tioning 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.
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
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.
Set the upper speed limit as a percentage of the rated motor speed
OW12 Speed Limit (rotary motor) or rated speed (linear motor). This value is an absolute
value. It is used in both the forward and reverse 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
OW18 Override operation.
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 during operation.
OL1C
Setting 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.
4-10

Register
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
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 distribution has been com-
pleted (i.e., when bit 0 in IW0C is 1).
Register
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 Execu-
formed for the POSING command. This bit changes to 0 (Completed)
Bit 0 tion Flag
when cancel processing has been completed.
This bit changes to 1 (Completed) when IW08 is 1 (execution of
IW09 Command Hold
the POSING command is in progress), bit 0 (Hold Command) in
Bit 1 Completed
OW09 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 Execu- command.
Bit 8 tion Completed Check bit 1 in IW0C to see if the POSING command has been
completed.
This bit changes to 1 (Distribution completed) when the distribution for
IW0C Distribution Com- the travel motion command is completed.
Bit 0 pleted This bit is 0 (Distributing pulses) when the execution of a travel motion
command is in progress.
This bit is 1 (Within positioning completed range) when distribution is
IW0C Positioning Com- 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.
4
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 distribu-
tion is completed (i.e., when DEN is 1), and it is 0 (Outside near position
range) when 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 distribution, and 0 in all other
Bit 3
cases.
|(IL12) − (IL16)| ≤ OL20
4-11
Timing Charts
 Normal Execution
OW08 = 1 (POSING)
IW08 = 1 (POSING)
IW09 Bit 0 (BUSY)
IW09 Bit 3 (FAIL)
IW09 Bit 8 (COMPLETE)
IW0C Bit 0 (DEN)
IW0C Bit 1 (POSCOMP)
1 scan This interval is not constant.
 Execution When Canceled
OW08 = 1 (POSING)
OW09 Bit 1 (ABORT)
IW08 = 1 (POSING)
IW09 Bit 0 (BUSY)
IW09 Bit 3 (FAIL)
IW0C Bit 0 (DEN)
 Execution When Command Is Changed
OW08 = 1 (POSING)
IW08 = 1 (POSING)
IW09 Bit 0 (BUSY)
IW09 Bit 3 (FAIL) 1scan
IW0C Bit 0 (DEN)
4-12
 Holding
OW08 = 1 (POSING)
OW09 Bit 0 (HOLD)
IW08 = 1 (POSING)
IW09 Bit 0 (BUSY)
IW09 Bit 1 (HOLDL)
IW09 Bit 3 (FAIL)
IW0C Bit 0 (DEN)
 Execution When an Alarm Occurs
OW08 = 1 (POSING)
IW08 = 1 (POSING)
IW09 Bit 0 (BUSY)
IW09 Bit 3 (FAIL)

IW0C Bit 0 (DEN)

Alarms
4-13
4.2.3 EX_POSING (External Positioning)

The EX_POSING command begins positioning the axis towards the target position according
to the specified 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 positioning final travel distance from the current position. If the external positioning sig-
nal does not turn ON, positioning is completed to the original target position.
Information The SVR Function Module does not support external positioning for an external signal
input.
The operation will be the same as for the POSING command.

3

• OW04, Bits 4 to 7 (External Positioning Signal Setting)
• OL46 (External Positioning Final Travel Distance)
Information • OL10 can be changed during positioning.

eration.
3. Set the OW08 setting parameter (Motion Commands) to 2 to execute the EX_POS-
ING motion command.
4. Set the OL1C setting parameter (Position Reference Setting) in the same scan as
the setting parameters in step 3.
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
positioning 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.
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.

This concludes external positioning.
4-14
Operating Patterns
The following figure shows the operating pattern when the EX_POSING command is executed.
Speed (%)
Rated speed
(100%)
Speed Reference
Setting
(OL10) External Positioning
0
Time (t)
(OL36) (OL38)
Latch signal (external positioning signal)
Holding
The motor will always decelerate to a stop, regardless of the setting of bits 8 to F (Stop Mode
Selection) in the OW02 setting parameter.

restarted.
Canceling
Related Parameters
The parameters that are related to this command are listed in the following table. 4
Register
Address
OW00 Set this parameter to 1 before setting OW08 to 2 (EX_POS-
Servo ON
Bit 0 ING).
P control.
Bit 3 Switch
OW02 0: Stop according to the Linear Deceleration Rate/Deceleration
Stop Mode Selection
Bit 8 to F Time Constant parameter
1: Stop immediately
4-15

Register
Address
OW04 External Positioning Set the external positioning signal.
Bit 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 posi-
tioning operation.
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 posi-
tioning signal.
OW09
Latch Zone Enable If the latch zone is enabled, the external positioning signal is ignored
Bit 4
if it is input outside of the latch zone.
OW09 Set this bit before setting OW08 to 2 (EX_POSING).
Position Reference Type
Bit 5 0: Incremental value addition method
Specify the positioning speed. This parameter can be changed
OL10 during operation.
ting
changing the value of OL10. Set the value as a percentage of
the Speed Reference Setting. This parameter can be changed during
OW18 Override operation.
Set the target position for positioning. This parameter can be
Position Reference Set- changed during operation.
OL1C
ting The meaning of the set value depends on the status of bit 5 in
OW09.
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).
NEAR Signal Output change to 1 (Within near position range). Bit 3 changes to 1 when
OL20
Width the 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 reverse direction of the area in which the
OL2A
Setting external positioning signal is valid.
Latch Zone Upper Limit Set the boundary in the forward direction of the area in which the
OL2C
Setting external positioning signal is valid.
Linear Acceleration
OL36 Rate/Acceleration Time
acceleration time.
Constant
Linear Deceleration
OL38 Rate/Deceleration Time
deceleration time.
Constant
4-16

Register
Address
acceleration/deceleration or a moving average filter can be selected
OW3A Filter Time Constant in bits 8 to B in OW03.
External Positioning
OL46 Set the travel distance after the external positioning signal is input.
Register
Address
IW08
Response Code This parameter is 2 during execution of the EX_POSING command.
IW09 Command Execu- This bit is 1 (Processing) during execution of the EX_POSING command.
Bit 0 tion Flag The bit changes to 0 (Completed) when execution ends.
This bit changes to 1 (Completed) after the axis decelerates to a com-

IW09 Command Hold plete stop when bit 1 (Hold Command) in OW09 changes to 1
Bit 1 Completed during execution of the EX_POSING command (i.e., when IW08 is
2).
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 Execu- This bit changes to 1 (Completed) when execution of the EX_POSING
Bit 8 tion Completed command ends.
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
IW0C
Latch Completed is executed and it changes to 1 (Latch completed) when the latch is
Bit 2
completed. The latched position is reported in IL18.
If OL20 is 0, this bit is 1 (Within near position range) when distribu- 4
IW0C
Bit 3
cases.
|(IL12) − (IL16)| ≤ OL20
Machine Coordinate
This parameter stores the current position in the machine coordinate
IL18 System Latch Posi-
system when the latch signal turned ON.
tion
4-17
Timing Charts
Information For EX_POSING, the value of the OL46 setting parameter (External Positioning Final
Travel Distance) is written to SERVOPACK common parameter No. 83 (Final Travel for Exter-
nal Input Positioning). Therefore, there is a slight time lag before the axis starts moving (refer
to the items with asterisks (*) in the following figure).
This position is reported. (IL18)
Travel distance
This interval is not constant.*

OW08 = 2 (EX_POSING)
IW08 = 2 (EX_POSING)
IW09 Bit 0 (BUSY)
IW09 Bit 3 (FAIL)
IW0C Bit 0 (DEN)
Latch signal This interval is not constant.
1 scan
(phase-C pulse, EXT1, EXT2, or EXT3)
IW0C Bit2 (LCOMP)
(Latch Completed)

OW09 Bit 1 (ABORT)
IW09 Bit 0 (BUSY)
IW09 Bit 3 (FAIL)
IW0C Bit 0 (DEN)

IW09 Bit 0 (BUSY)
IW09 Bit 3 (FAIL)
IW0C Bit 0 (DEN)
4-18

IW09 Bit 0 (BUSY)
IW09 Bit 3 (FAIL)
IW0C Bit 0 (DEN)

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 distance is not applied, positioning may start sooner because
no parameters are written to the SERVOPACK at the start of EX_POSING and EX_FEED execu-
tion.
 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
Written. 4
Common parameter No.83

Final Travel for External
Input Positioning
External positioning reference External positioning reference
End of external positioning End of external positioning
4-19
 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 (Final Travel for External
Input Positioning).
2. Set OW05 bit 2 (External Positioning Final Travel Distance Write Selection) to 1
(Automatically 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
(Final Travel for External Input Positioning)
Speed
Time
1: Do not auto-
matically apply OW08 = 2 or 34
IW08 = OW08
Latch signal
1 scan
4-20
4.2.4 ZRET (Zero Point Return)

When the ZRET command is executed, the axis returns to the origin of the machine coordinate
system.
The operation to detect the position of the origin is different for an absolute encoder and for an
incremental encoder.
With an absolute encoder, the axis is returned to the origin 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 ori-
gin return operation. (Refer to the next section for details.)
Information If the SVR Function Module is used, the only operations that are performed are the reset-
ting of the machine coordinate system and setting of the Zero Point Return completion
status.
The origin return operation itself is not performed.
Selecting the Origin Return Method (with an Incremental

Encoder)
When fixed parameter No. 30 (Encoder Selection) is set to 0 (Incremental encoder), the coordi-
nate 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 gives the origin return methods. Set the optimum origin return method for
the machine in the OW3C setting parameter.
Refer to the following section for details on each of the methods listed in the following table.
Origin Return Methods and Parameters on page 4-26
OW3C
Setting Name Method Signal Details
Parameter
Applies a 3-step deceleration
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. −
4 to 10 Reserved. − −
11 C pulse only Uses only the phase-C pulse. −
P-OT + Uses the positive overtravel signal
12
C pulse and phase-C pulse.
P-OT: SERVOPACK P-OT signal
4
Uses only the positive overtravel
13 P-OT only P-OT: SERVOPACK P-OT signal*
signal.
HOME LS + Uses the HOME signal and
14 HOME: SERVOPACK EXT1 signal
C pulse phase-C pulse.
15 HOME only Uses only the HOME signal. HOME: SERVOPACK EXT1 signal
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 N-OT: SERVOPACK N-OT signal*
signal.
INPUT + Uses the input signal and phase- INPUT: Bit B in the OW05 setting
18
C pulse C pulse. parameter
Allows the origin 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.
4-21

3
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 origin return method to use
in motion setting parameter OW3C (Zero Point Return Method).
Information Software limits are enabled when the origin return operation is completed.
3. Refer to the following section and set the required parameters.

Origin Return Methods and Parameters on page 4-26
4. Set the OW08 setting parameter (Motion Commands) to 3 to execute the ZRET
motion command.
The origin return operation will start. During the origin return operation, the IW08 monitor
parameter (Motion Command Response Code) is 3.
When the axis returns to the origin, bit 5 (Zero Point Return/Setting Completed) in the IW0C
monitor parameter will change to 1 (Completed) and the origin return operation will end.

This concludes the origin return operation.
Holding
Holding execution of the ZRET command is not possible. Bit 0 (Hold Command) in the
OW09 setting parameter will be ignored.
Canceling
• To cancel an origin return operation, set bit 1 (Cancel Command) in the OW09 setting
parameter to 1 (Cancel Command ON).
4-22
Related Parameters
 Setting Parameters
Register
Address
OW00
Servo ON Set this parameter to 1 before setting OW08 to 3 (ZRET).
Bit 0
P control.
Bit 3 Switch
Stop Mode Selection
1: Stop immediately
The origin return operation is started when this parameter is set to 3
(ZRET).
OW08 Motion Commands
Set this parameter to 0 (NOP) during the origin return operation to
cancel the operation.
OW09 When this bit is set to 1 (ON) during an origin return operation, the
Cancel Command
Bit 1 axis will decelerate to a stop.

Linear Acceleration
OL36 Rate/Acceleration Time Set the positioning acceleration rate with the acceleration time.
Constant
Linear Deceleration
OL38 Rate/Deceleration Time Set the positioning deceleration rate with the deceleration time.
Constant
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).
Register
Address
Name Monitored Contents 4
IW00 This bit shows the Servo status for the axis.
Running with Servo ON
Bit 1 0: Stopped, 1: Running with Servo ON
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.
IW09 Command Hold Com- This bit is always 0 (Command hold not completed) for the ZRET
Bit 1 pleted command.
IW09 during execution of the ZRET command.
Command Error End
4-23

Register
Address
Bit 8 Completed of the ZRET command ends.
This bit changes to 1 (Distribution completed) when the distribution
IW0C for the travel motion command is completed.
Distribution Completed
Bit 0 This bit is 0 (Distributing pulses) when the execution of a travel
motion command is in progress.
If OL20 is 0, this bit is 1 (Within near position range) when dis-
tribution is completed (i.e., when DEN is 1), and it is 0 (Outside near
position range) when distribution is not completed.
When OL20 is not 0, this bit is 1 when within the range of the
IW0C
Near Position following formula, regardless of the state of distribution, and 0 in all
Bit 3
other cases.
|(IL12) − (IL16)| ≤ OL20
This bit is 1 (Within zero point position range) if, after the origin return
IW0C operation is completed, the current position is within the zero point
Zero Point Position
Bit 4 position output width from the origin. It is 0 (Outside zero point posi-
tion 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 origin return operation is completed.
Timing Charts
Depends on the origin return
method that is used.
OW08 = 3 (ZRET)
IW08 = 3 (ZRET)
IW09 Bit 0 (BUSY)
IW09 Bit 3 (FAIL)
IW0C Bit 0 (DEN)
IW0C Bit 5 (ZRNC) 1 scan This interval is not constant.
4-24
OW08 = 3 (ZRET)
OW09 Bit 1 (ABORT)
IW08 = 3 (ZRET)
IW09 Bit 0 (BUSY)
IW09 Bit 3 (FAIL)
IW0C Bit 0 (DEN)
OW08 = 3 (ZRET)
IW08 = 3 (ZRET)

IW09 Bit 0 (BUSY)
IW09 Bit 3 (FAIL)
IW0C Bit 0 (DEN)
IW0C Bit 5 (ZRNC)
OW08 = 3 (ZRET)
IW08 = 3 (ZRET)
IW09 Bit 0 (BUSY)
IW09 Bit 3 (FAIL)
IW0C Bit 0 (DEN) 4
Alarms
4-25
Origin Return Methods and Parameters

With an incremental encoder, there are 13 different methods that you can use for the origin
return operation. This section explains the operations that occur after starting an origin return
operation and the parameters that must be set before issuing the command.
 DEC1 + C Pulse (OW3C = 0)

 Operation after Origin Return Starts
1. Motion is started at the origin 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
established with the position at the end of the positioning operation as the origin.
Zero Point Return
Travel Distance
Origin (OL42) Start
Creep Speed
(OL40) Approach Speed
(OL3E)

(OL10)
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.
The travel distance after the phase-C pulse is detected is set in the OL42 setting parameter
(Zero Point Return Travel Distance).
Important
If an overtravel signal is detected during the origin return operation, an overtravel alarm will occur.
Register Address Name Setting Details
Zero Point Return
OW3C 0: DEC1 + C pulse
Method
Zero Point Return
OW09 Bit 3 Set the origin return direction.
Direction Selection
Set the speed at which to begin the origin return operation.
OL10 Only a positive value can be set. A negative value will result in
ting
an error.
4-26

This parameter allows the travel speed to be changed without
changing the value of OL10. Set the value as a percent-
age of the Speed Reference Setting. This parameter can be
OW18 Override changed during operation.
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
OL40 Creep Speed after the 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 origin
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 origin
return direction.
 ZERO Signal (OW3C = 1)


1. Travel is started at the approach speed in the direction that is specified in the parame-
ters.
2. When the rising edge of the ZERO signal is detected, the speed will be reduced to the
creep speed and positioning will be performed.
Origin Start
Zero Point Return Travel
Distance
(OL42)
Creep Speed
(OL40)
Approach Speed
(OL3E)
ZERO signal*1
P-OT*2
N-OT*3 4
*1. SERVOPACK EXT1 signal.
The travel distance after detecting the ZERO signal is set in the OL42 setting parameter
Important
4-27
Zero Point Return
OW3C 1: ZERO signal
Method
Zero Point Return
Direction Selection
Set the speed to use after passing the DEC1 signal.
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.
Zero Point Return If the sign is positive, the axis will move in the origin return
OL42
Travel Distance direction.
return direction.
 DEC1 + ZERO Signal (OW3C = 2)

1. Travel is started at the origin return speed in the direction that is specified in the param-
eters.
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 movement at the approach speed, the speed will be reduced to the creep speed
and positioning will be performed.
DEC1 signal*1
Zero Point Return Travel Distance
Origin (OL42) Start
Creep Speed
(OL40) Approach Speed
(OL3E)

(OL10)
ZERO signal*2
P-OT*3
N-OT*4
*1. SERVOPACK DEC1 signal.

The travel distance after detecting the ZERO signal is set in the OL42 setting parameter
Important
4-28
Zero Point Return
OW3C 2: DEC1 + ZERO signal
Method
Zero Point Return
Direction Selection
OL10 Only a positive value can be set. A negative value will result in
ting
an error.
This parameter allows the travel speed to be changed without
changing the value of OL10. Set the value as a percent-
age of the Speed Reference Setting. This parameter can be
OW18 Override changed during operation.
Set the speed to use after passing the DEC1 signal.
an error.
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 origin return
OL42
Travel Distance direction.
return direction.
 C Pulse (OW3C = 3)
1. Travel is started at the approach speed in the direction that is specified in the parame-
ters.
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.
Origin Start
Zero Point Return 4
Travel Distance
(OL42)
Creep Speed
(OL40)
Approach Speed
(OL3E)
Phase-C pulse
P-OT*1
N-OT*2

4-29
The travel distance after the phase-C pulse is detected is set in the OL42 setting parameter
Important
Zero Point Return
OW3C 3: C pulse
Method
Zero Point Return
Direction Selection
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 origin return
Zero Point Return
OL42 direction.
Travel Distance
return direction.
 C Pulse Only (OW3C = 11)

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 positioning speed.
• Normal Operation (No Overtravel Signal Detected)

(OL10)
Creep Speed Zero Point Return

(OL40) Travel Distance
(OL42)
Start Origin
Phase-C pulse
P-OT*1
N-OT*2
4-30
• Overtravel Signal Detected during Travel at the Creep Speed

(OL10)
Creep Speed
Zero Point Return (OL40)
Travel Distance
(OL42)
Origin Start
Creep Speed
(OL40)
Phase-C pulse
P-OT*1
N-OT*2

Information 1. The travel distance after the phase-C pulse is detected is the value of the OL42
setting parameter (Zero Point Return Travel Distance). 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 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 settings.
Zero Point Return
OW3C 11: C pulse only
Method
Set the positioning speed to use after the phase-C pulse is
Speed Reference Set- detected. 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 ori-
gin 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.
4-31
 P-OT + C Pulse (OW3C = 12)

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 origin return operation.
Approach Speed
(OL3E)
Phase-C pulse
Origin
Start
Zero Point Return
Travel Distance Creep Speed
(OL42) (OL40)

(OL10)
P-OT*1
N-OT*2

Information 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.
parameter settings.
Zero Point Return
OW3C 12: P-OT + C pulse
Method
OL10
OL3E Approach Speed Add a sign to this setting so that the travel direction will be pos-
itive.
Set the reversal speed to use after the P-OT signal is detected.
The sign is ignored. The travel direction is negative.
OL42
4-32
 P-OT Only (OW3C = 13)

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 origin return operation.
• Normal Execution
Approach Speed
(OL3E)
Origin
Start Zero Point Return

Travel Distance

(OL42)

(OL10)
P-OT*1
N-OT*2
• Starting from the P-OT Signal
Start
Origin
Zero Point
Return Travel
Distance
(OL42)
(OL10)
P-OT*1
N-OT*2
4
Information 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
2. If a negative value is set for the approach speed, the command will end in an error.
4. Detecting changes in the overtravel signal status is performed with software process-
ing. Therefore, the position where positioning is completed depends on the high-
speed scan setting and positioning speed setting. Do not use this method if repeat
accuracy is required for the position where the origin return operation is completed.
parameter settings.
4-33
Zero Point Return
OW3C 13: P-OT only
Method
Set the positioning speed to use after the P-OT signal is
OL10
OL3E Approach Speed Add a sign to this setting so that the travel direction will be pos-
itive.
Zero Point Return Set the travel distance after detecting the P-OT signal.
OL42
 HOME LS + C Pulse (OW3C = 14)

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.
Approach Speed
(OL3E) Speed Reference Setting
(OL10)
Creep Speed
Zero Point Return
(OL42)
Start Origin
HOME signal*1
Phase-C pulse
P-OT*2
N-OT*3
4-34
• Overtravel Signal Detected during Travel at the Approach Speed

Approach Speed
(OL3E)
Creep Speed (OL10)
(OL40)
Zero Point Return
Travel Distance
(OL42)
Start Origin
Approach Speed
HOME signal*1 (OL3E)
Phase-C pulse
P-OT*2
N-OT*3


2. If an overtravel signal is detected during motion at the approach speed, an overtravel
the HOME signal.
parameter settings.
Zero Point Return
OW3C 14: HOME LS + C pulse
Method
OL10
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 4
signal is detected.
OL42
4-35
 HOME Only (OW3C = 15)

speed.
2. When the rising edge of the HOME signal is detected, positioning will be performed at
(OL10)
Creep Speed Zero Point Return

(OL42)
Start Origin
HOME signal*1
P-OT*2
N-OT*3

(OL10)
Creep Speed
Zero Point Return
Travel Distance (OL40)
(OL42)
Origin Start
Creep Speed
(OL40)
HOME LS signal*1
P-OT*2
N-OT*3

Information 1. The travel distance after the HOME signal is detected is the value of the Zero Point
the HOME signal.
parameter settings.
4-36
Zero Point Return
OW3C 15: HOME only
Method
Set the positioning speed to use after the HOME signal is
OL10
Zero Point Return Set the travel distance after detecting the HOME signal.
OL42
 N-OT + C Pulse (OW3C = 16)

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 origin return operation.

Phase-C pulse
Creep Speed
(OL40)
Origin Start
Zero Point Return

Travel Distance
(OL42)

(OL10)
Approach Speed
(OL3E) P-OT*1
N-OT*2

4
2. If a positive value is set for the approach speed, the command will end in an error.
parameter settings.
4-37
Zero Point Return
OW3C 16: N-OT + C pulse
Method
OL10
OL3E Approach Speed Add a sign to this setting so that the travel direction will be neg-
ative.
Set the speed to use after the N-OT signal is detected.
The travel direction is positive.
OL42
 N-OT Only (OW3C = 17)

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 origin return operation.
(OL10)
Zero Point
Return Travel
Distance
(OL42) Start
Origin
Approach Speed
(OL3E) P-OT*1
N-OT*2

Information 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
2. If a positive value is set for the approach speed, the command will end in an error.
4. Detecting changes in the overtravel signal status is performed with software process-
parameter settings.
4-38
Zero Point Return
OW3C 17: N-OT only
Method
Set the positioning speed to use after the N-OT signal is
OL10
OL3E Approach Speed Add a sign to this setting so that the travel direction will be neg-
ative.
Zero Point Return Set the travel distance after detecting the N-OT signal.
OL42
 INPUT + C Pulse (OW3C = 18)

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.
Approach Speed
(OL3E) Speed Reference Setting
(OL10)
Creep Speed
Zero Point Return
(OL42)
Start Origin
INPUT signal (bit B in OW05)
Phase-C pulse
P-OT*1
N-OT*2
4-39
• Overtravel Signal Detected during Travel at the Approach Speed

Approach Speed
(OL3E)
Speed Reference Setting (OL10)
Zero Point Return

Travel Distance
Start (OL42)
Origin
Creep Speed
(OL40)
INPUT signal
Approach Speed (bit B in OW05)
(OL3E)
Phase-C pulse
P-OT*1
N-OT*2

2. If an overtravel signal is detected during motion at the approach speed, an overtravel
the INPUT signal.
parameter settings.
Zero Point Return
OW3C 18: INPUT + C pulse
Method
OL10
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
signal is detected.
OL42
Zero Point Return
OW05 Bit B This signal must be turned ON from a ladder program.
Input Signal
4-40
 INPUT Only (OW3C = 19)

speed.
2. When the rising edge of the INPUT signal is detected, positioning will be performed at
Information 1. The travel distance after the INPUT signal is detected is the value of the Zero Point
the INPUT signal.
4. The INPUT signal is assigned to bit B in OW05. This allows the origin return
operation to be performed without actually wiring a signal. This method can therefore
be used to temporarily set the origin for test run adjustments.
5. Detection of the rising edge of the INPUT signal is performed with software process-

parameter settings.
(OL10)
Creep Speed
(OL40) Zero Point Return
Travel Distance
(OL42)
Start Origin

P-OT*1
N-OT*2

Creep Speed
(OL40)
Start Origin
4
Zero Point Return
Travel Distance
Creep Speed (OL42)
(OL40)

(OL10)
P-OT*1
N-OT*2

4-41
Zero Point Return
OW3C 19: INPUT only
Method
Set the positioning speed to use after the INPUT signal is
OL10
Zero Point Return Set the travel distance after detecting the INPUT signal.
OL42
Zero Point Return
OW05 Bit B This signal must be turned ON from a ladder program.
Input Signal
4-42
4.2.5 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.

3


• OL0C (Torque/Force Reference Setting or Torque Feedforward Compensation)
• OL1C (Position Reference Setting)
• OW30 (Speed Feedforward Compensation)
3. Set the OW08 setting parameter (Motion Commands) to 4 to execute the INTER-
POLATE motion command.
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 param- 4
eter will change to 1 (Within positioning completed range) and positioning will end.
Information When bit 5 (Position Reference Type) in 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 posi-
tion.

This concludes interpolation positioning.
4-43
Operating Patterns
The following figure shows the operating pattern when the INTERPOLATE command is exe-
cuted.
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 can-
not be used to stop the axis.
Change the motion command to stop an interpolation operation.
Related Parameters
Register
Address
OW00 Set this parameter to 1 before setting OW08 to 4 (INTERPO-
Servo ON
Bit 0 LATE).
Stop Mode Selection
1: Stop immediately
Positioning is started when this parameter is set to 4 (INTERPO-
LATE).
OW09 Set this bit before setting OW08 to 4 (INTERPOLATE).
Position Reference Type
Bit 5 0: Incremental value addition method
Torque/Force Reference
OL0C Setting or Torque Feed- Set the torque feedforward amount during interpolation.
forward Compensation
OL14 Torque/Force Limit Set the torque limit during interpolation.
Position Reference Set- Set the target position for positioning. This parameter is updated
OL1C
ting every high-speed scan.
OL1E
4-44

Register
Address
OL20
Set the speed feedforward amount as a percentage of the rated
OW31 Speed Compensation speed.
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
Constant occurs.
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 distribution has been completed (i.e., when bit 0
in IW0C is 1).
Register
Address

IW08
Response Code This parameter is 4 during execution of the INTERPOLATE command.
This bit is always 0 (Completed) for the INTERPOLATE command.
Bit 0 tion Flag
IW09 Command Hold This bit is always 0 (Command hold not completed) for the INTERPO-
Bit 1 Completed LATE command.
IW09 during execution of the INTERPOLATE command.
Command Error End
IW09 Command Execu- This bit is always 0 (Normal execution not completed) for the INTERPO-
Bit 8 tion Completed LATE command.
Bit 1 pleted range. This bit is 0 (Outside positioning completed range) in all other 4
cases.
IW0C
Bit 3
cases.
|(IL12) − (IL16)| ≤ OL20
4-45
Timing Charts
The target position is updated every high-speed scan.
OW08 = 4 (INTERPOLATE)
IW08 = 4 (INTERPOLATE)
IW09 Bit 0 (BUSY)
IW09 Bit 3 (FAIL)
IW0C Bit 0 (DEN)
OW08 = 4 (INTERPOLATE)
Alarms
IW08 = 4 (INTERPOLATE)
IW09 Bit 0 (BUSY)
IW09 Bit 3 (FAIL)
IW0C Bit 0 (DEN)
4-46
4.2.6 LATCH (Interpolate with Latch Input)

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 cur-
rent 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
feedforward compensation is set in the OL0C setting parameter (Torque/Force Refer-
ence 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.


3

• OW04, Bits 0 to 3 (Latch Signal Selection)
• 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
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 param-
eter 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 = 1 scan + MECHATROLINK transmission cycle + SERVOPACK
processing time (250 μs max.)
4-47

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
IL18.
Position
0
Time (t)
Latch signal
Positioning completed
range
POSCOMP

The axis stops if there is no change in the target position each high-speed scan.
Change the motion command to stop an interpolation operation.
Related Parameters
Register
Address
OW00
Servo ON Set this parameter to 1 before setting OW08 to 6 (LATCH).
Bit 0
OW02 Stop Mode Selec- 0: Stop according to the Linear Deceleration Rate/Deceleration Time
Bit 8 to F tion Constant parameter
1: Stop immediately
OW04 Latch Signal Selec-
Select the latch signal.
Bit 0 to 3 tion
OW08 Motion Commands Positioning is started when this parameter is set to 6 (LATCH).
OW09 Position Reference Set this bit before setting OW08 to 6 (LATCH).
Bit 5 Type 0: Incremental value addition method
Torque/Force Refer-
ence Setting or
OL0C Set the torque feedforward amount during interpolation positioning.
Torque Feedfor-
ward Compensation
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.
4-48

Register
Address
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 Out- to 1 (Within near position range). Bit 3 changes to 1 when the absolute
OL20
put Width value of the difference between the reference position and the feedback
position is within the range that is specified here.
Speed Compensa- Set the speed feedforward amount as a percentage of the rated speed.
OW31
tion 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 accel-
eration/deceleration or a moving average filter can be selected in bits 8
OW3A Filter Time Constant to B in OW03.
This setting can be changed only when distribution has been completed
(i.e., when bit 0 in IW0C is 1).
Register
Address

IW08
Response Code This parameter is 6 during execution of the LATCH command.
This bit is always 0 (Completed) for the LATCH command.
Bit 0 tion Flag
IW09 Command Hold This bit is always 0 (Command hold not completed) for the LATCH com-
Bit 1 Completed mand.
IW09 during execution of the LATCH command.
Command Error End
IW09 Command Execu- This bit is always 0 (Normal execution not completed) for the LATCH
Bit 8 tion Completed command.
IW0C Positioning Com- completed and the current position is within the positioning completed 4
cases.
IW0C
Bit 2
4-49
Timing Charts
The target position is updated every high-speed scan.
This position is reported.
(IL18)
OW08 = 6 (LATCH)
IW08 = 6 (LATCH)
IW09 Bit 0 (BUSY)
IW09 Bit 3 (FAIL)
IW0C Bit 0 (DEN)

Latch signal*
IW0C Bit 2 (LCOMP)
* Latch signal: Phase-C pulse, /EXT1, EXT2, or /EXT3
OW08 = 6 (LATCH)
Alarms
IW08 = 6 (LATCH)
IW09 Bit 0 (BUSY)
IW09 Bit 3 (FAIL)
IW0C Bit 0 (DEN)
4-50
4.2.7 FEED (Jog)
4.2.7 FEED (Jog)

The FEED command starts movement in the specified travel direction at the specified travel
speed. Execute the NOP command to stop the operation.

3

• OW09, Bit 2 (Travel Direction for JOG/STEP)

Information • OL10 can be changed during motion.

eration.
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.

Bit 1 (Positioning Completed) in the IW0C monitor parameter changes to 1 (Within positioning
completed range).
This concludes the jogging operation.
4
4-51
4.2.7 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)

(OL36) (OL38)
Holding
Holding execution of the FEED command is not possible. Bit 0 (Hold Command) in the
Canceling
• To cancel a jogging operation, set bit 1 (Cancel Command) in the OW09 setting param-
eter to 1 (Cancel Command ON).
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 param-
eter is set to 0 (Cancel Command OFF) during processing of the cancel operation.
1. Due to the delay that occurs when sending or receiving commands and responses between
the CPU and the Motion Control Function Module, the cancel processing may have been com-
pleted (IW08 is 7 and bit 8 in IW09 is 1), even though an attempt was made to
Important restart the operation. In this case, operation cannot be resumed. Set OW08 to any com-
mand 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
consider this delay.
Related Parameters
Register
Address
OW00
Servo ON Set this parameter to 1 before setting OW08 to 7 (FEED).
Bit 0
P control.
Bit 3 Switch
4-52
4.2.7 FEED (Jog)

Register
Address
Stop Mode Selection
1: Stop immediately
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
completed if this parameter is set to 0 (NOP) during the jogging
operation.
OW09 When this bit is set to 1 (ON) during jogging, the axis will decelerate
Cancel Command
Bit 1 to a stop.
OW09 Travel Direction for Set the travel direction for jogging.
Bit 2 JOG/STEP 0: Forward, 1: Reverse
ting
OL14 Torque/Force Limit Set the torque limit for jogging.
This parameter allows the feed speed to be changed without chang-
ing 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.
OL1E
OL20
Linear Acceleration
Set the jogging acceleration rate with the acceleration rate or the
acceleration time.
Constant
Linear Deceleration
Set the jogging deceleration rate with the deceleration rate or the
deceleration time.
Constant
pleted (i.e., when bit 0 in IW0C is 1). 4
Register
Address
IW08
Response Code This parameter is 7 during execution of the FEED command.
formed for the FEED command. This bit changes to 0 (Completed) when
Bit 0 tion Flag
cancel processing has been completed.
4-53
4.2.7 FEED (Jog)

Register
Address
IW09 Command Hold This bit is always 0 (Command hold not completed) for the FEED com-
IW09 during execution of the FEED command.
Command Error End
IW09 Command Execu- This bit is always 0 (Normal execution not completed) for the FEED
cases.
Timing Charts
OW08 = 7 (FEED)
IW08 = 7 (FEED)
IW09 Bit 0 (BUSY)
IW09 Bit 3 (FAIL)
IW0C Bit 0 (DEN)
1 scan
OW08 = 7 (FEED)
OW09 Bit 1 (ABORT)
IW08 = 7 (FEED)
IW09 Bit 0 (BUSY)
IW09 Bit 3 (FAIL)
IW0C Bit 0 (DEN)
1 scan
4-54
4.2.7 FEED (Jog)
OW08 = 7 (FEED)
IW08 = 7 (FEED)
IW09 Bit 0 (BUSY)
IW09 Bit 3 (FAIL)
IW0C Bit 0 (DEN)
1 scan
Alarms
4-55
4.2.8 STEP (STEP Operation)

The STEP command performs positioning for the specified travel distance based on the speci-
fied travel direction, travel distance, and travel speed.

3

• OW09, Bit 2 (Travel Direction for JOG/STEP)
• OL44 (STEP Travel Distance)

eration.
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.

This concludes the STEP operation.
4-56
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)
(OL36) (OL38)
Holding

restarted.
Canceling
Related Parameters 4
Register
Address
OW00
Servo ON Set this parameter to 1 before setting OW08 to 8 (STEP).
Bit 0
P control.
Bit 3 Switch
4-57

Register
Address
Stop Mode Selection
1: Stop immediately
The STEP operation is started when this parameter is set to 8
(STEP).
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.
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.
ting
OL14 Torque/Force Limit Set the torque limit for interpolation positioning.
changing the value of OL10.
OL1E
OL20
Linear Acceleration
acceleration time.
Constant
Linear Deceleration
deceleration time.
Constant
OL44 STEP Travel Distance Set the travel distance for the STEP operation.
Register
Address
4-58

Register
Address
IW08
Response Code This parameter is 8 during execution of the STEP command.
IW09 Command Execu- This bit is 1 (Processing) during execution of the STEP command. The
Bit 0 tion Flag bit changes to 0 (Completed) when execution ends.
This bit changes to 1 (Completed) when IW08 is 8 (execution of
IW09 Command Hold
the STEP command is in progress), bit 1 (Hold Command) in
Bit 1 Completed
OW09 is 1, and the axis completely decelerates to a stop.
IW09 during execution of the STEP command.
Command Error End
IW09 Command Execu- This bit changes to 1 (Normal execution completed) when execution of
Bit 8 tion Completed the STEP command ends.
cases.

If OL20 is 0, this bit is 1 (Within near position range) when distri-
bution is completed (i.e., when DEN is 1), and it is 0 (Outside near posi-
tion range) when distribution is not completed.
IW0C
Bit 3
cases.
|(IL12) − (IL16)| ≤ OL20
Timing Charts
OW08 = 8 (STEP)
IW08 = 8 (STEP) 4
IW09 Bit 0 (BUSY)
IW09 Bit 3 (FAIL)
IW0C Bit 0 (DEN)
4-59
OW08 = 8 (STEP)
OW09 Bit 1 (ABORT)
IW08 = 8 (STEP)
IW09 Bit 0 (BUSY)
IW09 Bit 3 (FAIL)
IW0C Bit 0 (DEN)
OW08 = 8 (STEP)
IW08 = 8 (STEP)
IW09 Bit 0 (BUSY)
IW09 Bit 3 (FAIL)
IW0C Bit 0 (DEN)
OW08 = 8 (STEP)
IW08 = 8 (STEP)
IW09 Bit 0 (BUSY)
IW09 Bit 3 (FAIL)
IW0C Bit 0 (DEN)

Alarms
4-60
4.2.9 ZSET (Set Zero Point)

Execute the ZSET command to set the origin in the machine coordinate system. This enables
the origin to be set without performing an origin return operation.
When using software limits, always execute this command or an origin return operation. Software
limits are enabled after this command is completed.
Important

2
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 origin.
During the operation, the IW08 monitor parameter (Motion Command Response Code) is 9.
When the 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 operation is completed will depend on the axis setting, as shown
in the following table.
Position Information When the Operation Is
Axis Setting
Completed
Finite-length or infinite-length axis with an incre- The position information is initialized with the origin
mental encoder offset in the machine coordinate system.
Finite-length axis with an absolute encoder The position information is unchanged.
Simple absolute infinite-length axis with an abso-
The position information is unchanged.
lute encoder
The position information is initialized with the origin
Infinite-length axis with an absolute encoder
offset in the machine coordinate system.

This concludes the set zero point operation.
4

Related Parameters
4-61
Register
Address
OW08 Motion Commands The 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 origin in the machine coordinate system
OL48 Offset in Machine
after the operation has been completed.
Coordinate System
Register
Address
IW08
Response Code This parameter is 9 during execution of the ZSET command.
IW09 Command This bit is 1 (Processing) during execution of the ZSET command. The
Bit 0 Execution Flag bit changes to 0 (Completed) when execution ends.
IW09 Command Hold This bit is always 0 (Command hold not completed) for the ZSET com-
IW09 during execution of the ZSET command.
Command Error End
Bit 8 tion Completed the ZSET command ends.
IW0C Zero Point Return/ This bit changes to 1 (Zero point return/setting completed) when the
Bit 5 Setting Completed operation is completed.
Timing Charts
OW08 = 9 (ZSET)
IW08 = 9 (ZSET)
IW09 Bit 0 (BUSY)
IW09 Bit 3 (FAIL)
IW0C Bit 5 (ZRNC)
4-62
4.2.10 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 an SVC
Function Module is used.
Information • When this command is executed, bit 0 (Command Execution Flag) in the IW09 moni-
tor 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 Servo Selection or a slave SERVOPACK as soon as a travel
motion command is executed.
• This command is not required when an SVC 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 still be used with an SVC Function Module, including the settings for this
command.

2 Distribution has been completed. Bit 0 in IW0C must be 1.
3

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
execution completed) when IW08 changes to 10.

This concludes the process for changing the linear acceleration time constant.

4
Related Parameters
Register
Address
Set this parameter to 10 (ACC) to change the linear acceleration time
constant.
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
4-63
Register
Address
IW08
Response Code This parameter is 10 during execution of the ACC command.
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 com-
IW09
Command Error End This bit is always 0 (Completed normally) for the ACC command.
Bit 3
Bit 8 tion Completed the ACC command ends.
Timing Charts
OW08 = 10 (ACC)
IW08 = 10 (ACC)
IW09 Bit 0 (BUSY)
IW09 Bit 3 (FAIL)
4-64
4.2.11 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 an SVC
Function Module is used.
Information • When this command is executed, bit 0 (Command Execution Flag) in the IW09 moni-
tor parameter will not change to 1 (Processing).
• The set value for the OL38 setting parameter (Linear Deceleration Rate/Deceleration
Time Constant) is issued to the Servo Selection or a slave SERVOPACK as soon as a travel
motion command is executed.
• This command is not required when an SVC 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 still be used with an SVC Function Module, including the settings for this
command.

3

2. Set the OW08 setting parameter (Motion Commands) to 11 to execute the DCC
motion command.
command.
Bit 8 (Command Execution Completed) in the IW09 monitor parameter changes to 1 (Normal
execution completed) when IW08 changes to 11.

This concludes the process for changing the linear deceleration time constant.

4
Related Parameters
Register
Address
Set this parameter to 11 (DCC) to change the linear deceleration
time 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
4-65
Register
Address
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
Bit 1 pleted command.
IW09
Command Error End This bit is always 0 (Completed normally) for the DCC command.
Bit 3
Bit 8 Completed of the DCC command ends.
Timing Charts
OW08 = 11 (DCC)
IW08 = 11 (DCC)
IW09 Bit 0 (BUSY)
IW09 Bit 3 (FAIL)
4-66
4.2.12 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.
An SVC Function Module can automatically transfer setting parameters to SERVOPACK parame-
ters when they are overwritten. The SCC command is not required if this function is used. Refer
to the following section for details.
Important 3.4 Motion Parameter Details −  Function Selection Flags 1− Bit A: SERVOPACK Parameter Auto-
Write on page 3-29

3

2. Set the OW08 setting parameter (Motion Commands) to 12 to execute the SCC
motion command.
The SERVOPACK 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
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).

This concludes the process for changing the filter time constant.

not be used to stop the axis. 4
Related Parameters
Register
Address
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.
4-67
Register
Address
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 com-
IW09 during execution of the SCC command.
Command Error End
Bit 8 tion Completed the SCC command ends.
Timing Charts
 Normal Completion
OW08 = 12 (SCC)
IW08 = 12 (SCC)
IW09 Bit 0 (BUSY) This interval is not
IW09 Bit 3 (FAIL) constant.
 Error Completion
OW08 = 12 (SCC)
IW08 = 12 (SCC)
4-68
4.2.13 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.
Information When bit A (SERVOPACK Parameter Auto-Write) in fixed parameter No. 1 is 0 (Enabled), the
filter type is changed when distribution is completed, even if this command is not executed.

3
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.

This concludes the process for changing the filter type.

Related Parameters
Register
Name Setting Details 4
Address
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
4-69
Register
Address
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 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 CHG_FIL-
Bit 1 Completed TER command.
IW09 during execution of the CHG_FILTER command.
Command Error End
Bit 8 tion Completed the CHG_FILTER command ends.
Timing Charts
OW08 = 13 (CHG_FILTER)
IW08 = 13 (CHG_FILTER)
IW09 Bit 0 (BUSY)
IW09 Bit 3 (FAIL)
1 scan
OW08 = 13 (CHG_FILTER)
IW08 = 13 (CHG_FILTER)
IW09 Bit 0 (BUSY)
IW09 Bit 3 (FAIL)
4-70
4.2.14 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.
ters when they are overwritten. The KVS command is not required if this function is used. Refer to
the following section for details.
Write on page 3-29

2

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 SERVOPACK parameter and is
enabled.
command.

This concludes the process for changing the speed loop gain.

Related Parameters
Register
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.
4-71
Register
Address
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
IW09 Command Hold This bit is always 0 (Command hold not completed) for the KVS com-
IW09 during execution of the KVS command.
Command Error End
Bit 8 tion Completed the KVS command ends.
Timing Charts
OW08 = 14 (KVS)
IW08 = 14 (KVS)
OW08 = 14 (KVS)
IW08 = 14 (KVS)
4-72
4.2.15 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.
ters when they are overwritten. The KPS command is not required if this function is used. Refer to
Important 3.4 Motion Parameter Details −  Function Selection Flags 1−  Bit A: SERVOPACK Parameter Auto-
Write on page 3-29

2

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 SERVOPACK parameter and is
enabled.
command.

This concludes the process for changing the position loop gain.

Related Parameters
Register
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.
4-73
Register
Address
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
IW09 Command Hold This bit is always 0 (Command hold not completed) for the KPS com-
IW09 during execution of the KPS command.
Command Error End
Bit 8 tion Completed the KPS command ends.
Timing Charts
OW08 = 15 (KPS)
IW08 = 15 (KPS)
IW09 Bit 0 (BUSY) This interval is
IW09 Bit 3 (FAIL) not constant.
OW08 = 15 (KPS)
IW08 = 15 (KPS)
4-74
4.2.16 KFS (Change Feedforward)

The KFS command transfers the set value of the OW30 setting parameter (Speed Feed-
forward Compensation) to the Feedforward SERVOPACK parameter and enables the setting.
ters when they are overwritten. The KFS command is not required if this function is used. Refer to
Write on page 3-29

2

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 SERVOPACK parameter and is enabled.
command.

This concludes the process for changing the feedforward compensation.

Related Parameters
4
Register
Address
Set this parameter to 16 (KFS) to change the feedforward compensa-
tion.
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
4-75
Register
Address
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
IW09 Command Hold This bit is always 0 (Command hold not completed) for the KFS com-
IW09 during execution of the KFS command.
Command Error End
Bit 8 tion Completed the KFS command ends.
Timing Charts
OW08 = 16 (KFS)
IW08 = 16 (KFS)
OW08 = 16 (KFS)
IW08 = 16 (KFS)
4-76
4.2.17 PRM_RD (Read SERVOPACK Parameter)

The PRM_RD command reads the set value of the SERVOPACK parameter that corresponds
to the specified parameter number and parameter size. The read value is then stored in the
IW36 (SERVOPACK 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 parameters, which are defined in the MECHATROLINK-III communications
specifications. Set bit 8 (SERVOPACK Parameter Access Selection) in the OW09 setting
parameter to select which type of SERVOPACK parameter to read.

2


• 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.
command.

This concludes the process for reading SERVOPACK parameters.

not be used to stop the axis. 4
Related Parameters
]
Register
Address
Set this parameter to 17 (PRM_RD) to read a SERVOPACK parame-
ter.
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
4-77

Register
Address
Use this bit to select the parameter to read.
OW09 SERVOPACK Parame-
Bit 8 ter Access Selection
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.
Register
Address
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.
IW09 Command Hold This bit is always 0 (Command hold not completed) for the PRM_RD
Bit 1 Completed command.
IW09 during execution of the PRM_RD command.
Command Error End
Bit 8 tion Completed the PRM_RD command ends.
SERVOPACK This parameter stores the number of the SERVOPACK parameter that
IW36
Parameter Number was read.
SERVOPACK
This parameter stores the data of the SERVOPACK parameter that was
IL38 Parameter Read
read.
Data
Timing Charts
OW08 = 17 (PRM_RD)
IW08 = 17 (PRM_RD)
OW08 = 17 (PRM_RD)
IW08 = 17 (PRM_RD)
4-78
4.2.18 PRM_WR (Write SERVOPACK Parameter)

The PRM_WR command overwrites the setting of a SERVOPACK parameter using the speci-
fied parameter number, parameter size, and set value data.
Two types of SERVOPACK parameters can be written with this command: vendor-specific
parameter to select which type of SERVOPACK parameter to write.

2

• OL52 (SERVOPACK Parameter Set Value)

PRM_WR motion command.
The SERVOPACK parameter is overwritten.
command.

This concludes the process for writing SERVOPACK parameters.

4
Related Parameters
Register
Address
Set this parameter to 18 (PRM_WR) to write a SERVOPACK parame-
ter.
OW09
Hold Command This bit is ignored for the PRM_WR command.
Bit 0
OW09
Cancel Command This bit is ignored for the PRM_WR command.
Bit 1
4-79

Register
Address
Use this bit to select the parameter to write.
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-
ter Size
SERVOPACK Parame-
OL52 Set the set value data to write to the target SERVOPACK parameter.
ter Set Value
Register
Address
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.
IW09 Command Hold This bit is always 0 (Command hold not completed) for the PRM_WR
IW09 during execution of the PRM_WR command.
Command Error End
Bit 8 tion Completed the PRM_WR command ends.
Timing Charts
OW08 = 18 (PRM_WR)
IW08 = 18 (PRM_WR)
OW08 = 18 (PRM_WR)
IW08 = 18 (PRM_WR)
4-80
4.2.19 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.

1. Make sure that the following condition is met.
1
2. Set the OW4F setting parameter (SERVOPACK Alarm Monitor Number).

ALM_MON motion command.
The alarm or warning that is current in the SERVOPACK is read, and is then stored in IW2D.

command.

This concludes the alarm monitor operation.

Related Parameters
Register
Address 4
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 Alarm
OW4F Set the number of the alarm to monitor.
Monitor Number
4-81
Register
Address
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
IW09 during execution of the ALM_MON command.
Command Error End
Bit 8 tion Completed the ALM_MON command ends.
SERVOPACK Alarm This parameter stores the SERVOPACK alarm or warning code that was
IW2D
Code read.
Timing Charts
OW08 = 19 (ALM_MON)
IW08 = 19 (ALM_MON)
IL38 Undefined value Read results
OW08 = 19 (ALM_MON)
IW08 = 19 (ALM_MON)
IL38 Undefined value
4-82
4.2.20 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).

1
2. Set the OW4F setting parameter (SERVOPACK Alarm Monitor Number).

ALM_HIST motion command.
The alarm history that is stored in the SERVOPACK is read and stored in IW2D.
command.


This concludes the alarm history monitor operation.

Related Parameters
Register
Address
Set this parameter to 20 (ALM_HIST) to execute the alarm history moni-
tor operation. 4
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 Alarm
OW4F Set the number of the alarm to monitor.
Monitor Number
4-83
Register
Address
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
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_HIST
IW09 during execution of the ALM_HIST command.
Command Error End
IW09 Command Execu- This bit changes to 1 (Normal execution completed) when operation of
Bit 8 tion Completed the ALM_HIST command ends.
SERVOPACK Alarm
IW2D This parameter stores the SERVOPACK alarm code that was read.
Code
Timing Charts
OW08 = 20 (ALM_HIST)
IW08 = 20 (ALM_HIST)

OW08 = 20 (ALM_HIST)
IW08 = 20 (ALM_HIST)

4-84
4.2.21 ALMHIST_CLR (Clear Alarm History)

When the ALMHIST_CLR command is executed, the alarm history data that is stored in the
SERVOPACK is cleared.

1
2. Set the OW08 setting parameter (Motion Commands) to 21 to execute the ALM-
HIST_CLR motion command.
The alarm history data that is stored in the SERVOPACK is cleared.
command.

This concludes the clear alarm history operation.

Related Parameters
Register
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
4
Cancel Command This bit is ignored for the ALMHIST_CLR command.
Bit 1
Register
Address
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_-
Bit 0 tion Flag CLR 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.
4-85

Register
Address
IW09 during execution of the ALMHIST_CLR command.
Command Error End
Bit 8 tion Completed the ALMHIST_CLR command ends.
Timing Charts
OW08 = 21 (ALMHIST_CLR)
IW08 = 21 (ALMHIST_CLR)
IW2D Alarm code (0) Alarm code (0)
Alarm code (code specified)
OW08 = 21 (ALMHIST_CLR)
IW08 = 21 (ALMHIST_CLR)
IW09 Bit 0 (BUSY)
This interval is
IW2D Alarm code (0) Alarm code (0) Alarm code (0)
4-86
4.2.22 ABS_RST (Reset Absolute Encoder)

You can reset the absolute encoder by executing the ABS_RST command.
The absolute encoder must be reset in the following cases:
• When the machine is initially started
• When an A.810 alarm (Encoder Backup Alarm) occurs
• When an A.820 alarm (Encoder Checksum Alarm) occurs
The ABS_RST command is enabled for an axis that uses an absolute encoder.
The ABS_RST command is valid for SERVOPACKs with absolute encoders. The command will
end in an error if the ABS_RST command is executed when an incremental encoder is used (even
Important
if it is used as an absolute encoder) or if a servo amplifier from another company is used.
Refer to the following section for the procedure to reset an absolute encoder for a MECHA-
TROLINK-III slave axis without using this command.
5.2.3 Resetting the Absolute Encoder on page 5-20


Synchronous communications must be estab-
1 Bit 0 in IW 00 must be 1.
lished with the SERVOPACK.*
2 The servo must be OFF. Bit 1 in IW00 must be 0.
IW08 must be 0 and bit 0 in
3 Motion command execution must be completed.
IW09 must be 0.
* If an A.810 alarm (Encoder Backup Alarm) or an A.820 alarm (Encoder Checksum Alarm) occurs, com-
munications cannot be synchronized by simply turning ON the power supplies to the MP3000. To syn-
chronize communications, set bit F in the OW 00 setting parameter (Run Command Settings) to 1
(ON).

ABS_RST motion command.
If an alarm occurs, the alarm will be reset and the multiturn data of the absolute encoder will be reset
to 0.
During command processing, IW08 changes to 22 during command execution, and bit 0 (Com-
mand Execution Flag) in IW09 changes to 1 (Processing). When processing is completed, bit 0
in IW09 changes to 0 (Completed), bit 3 (Command Error End (FAIL)) in IW09 changes to
0 (Completed normally), bit 0 in IW00 changes to 0 (Operation not ready), and bit 7 (Absolute
Encoder Reset Completed) in IW09 changes to 1 (Reset completed).
3. Set OW08 (Motion Commands) to 0 to execute the NOP motion command. 4

4. Turn the power supply to the SERVOPACK OFF and ON again
This concludes the procedure to reset the absolute encoder.

not be used to stop the axis. If a communications error occurs during command execution,
command processing will be canceled and the command will end in an error.
Related Parameters
4-87
Register
Address
OW00
Servo ON Set this parameter to 0 before setting OW08 to 22 (ABS_RST).
Bit 0
When OW08 is set to 22 (ABS_RST), the process to reset the
absolute encoder starts.
OW08 Motion Command
Even if it is set to 0 during processing, this setting will be ignored and
the operation will continue.
OW09
Hold Command This bit is ignored for the ABS_RST command.
Bit 0
OW09
Cancel Command This bit is ignored for the ABS_RST command.
Bit 1
Register
Address
This bit shows whether or not communications are synchronized
between the MP3000 and the slave SERVOPACK.
IW00 Motion Operation For the ABS_RST command, this bit is 1 (Motion operation ready) if
Bit 0 Ready communications are synchronized between the MP3000 and the slave
SERVOPACK. This bit is 0 (Motion operation not ready) if communica-
tions are disconnected.
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 Warning This parameter reports the current warning status.
IL04 Alarm This parameter reports the current alarm status.
IW08
Response Code This parameter is 22 during execution of the ABS_RST command.
IW09 Command Execu- This bit is 1 (Processing) during execution of the ABS_RST command.
Bit 0 tion Flag The bit changes to 0 (Completed) when command execution ends.
IW09 Command Hold This bit is always 0 (Command hold not completed) for the ABS_RST
IW09
Command Error End during execution of the ABS_RST command. Command execution pro-
Bit 3
cessing is canceled.
IW09 Absolute Encoder This bit changes to 1 (Reset completed) when absolute encoder reset is
Bit 7 Reset Completed completed.
Bit 8 tion Completed the ABS_RST command ends.
4-88
Timing Charts
OW08 = 22 (ABS_RST)
IW08 = 22 (ABS_RST)
IW09 Bit0 (BUSY)

This interval is not constant.
IW09 Bit3 (FAIL)
IW09 Bit7 (ABS_RSTC)
IW09 Bit8 (COMPLETE)
IW00 Bit0 (SVCRDY)

OW08 = 22 (ABS_RST)
IW08 = 22 (ABS_RST)
IW09 Bit0 (BUSY)

IW09 Bit3 (FAIL)

IW09 Bit7 (ABS_RSTC)
IW09 Bit8 (COMPLETE)
IW00 Bit0 (SVCRDY)
4-89
4.2.23 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 updated when the SVR Function Module is
used.
2. Torque feedforward compensation can be used with the VELO command. The torque feedfor-
Important ward compensation is set in the OL0C setting parameter (Torque/Force Reference Set-
ting 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.

2

Information • OL10 can be changed during operation.

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.
command.
Information • Commands can be executed even when the Servomotor’s power is OFF (Servo OFF).
• Position management with position feedback is enabled when operation is performed
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.
4-90
Operating Patterns
The following figure shows the operating pattern when the VELO command is executed.
VELO Operating Pattern
Speed (%)
0
Time (t)
Holding

restarted.
Canceling
• To cancel Speed Control Mode, set bit 1 (Cancel Command) in the OW09 setting
parameter to 1 (Cancel Command ON).
• Speed Control Mode resumes if bit 1 (Cancel Command) in the OW09 setting parame-
ter is set to 0 (Cancel Command OFF) during processing of the cancel operation.
mand code is changed during operation in Speed Control Mode.
Due to the delay that occurs when sending or receiving commands and responses between the
CPU and the Motion Control Function Module, the cancel processing may have been completed 4
(IW08 is 23 and bit 8 in IW09 is 1), even though an attempt was made to restart the
Important operation. 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.
4-91
Related Parameters
Register
Address
OW00 After the mode is changed to Speed Control Mode, set this bit to 1
Servo ON
Bit 0 to start operation.
P control.
Bit 3 Switch
Stop Mode Selection
1: Stop immediately
Set this parameter to 23 (VELO) to change operation to Speed Con-
trol Mode.
When this bit is set to 1 (ON) during an issue speed reference opera-
OW09 tion, 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 deceler-
Cancel Command
Bit 1 ate to a stop.
OL0C Setting or Torque Feed- Set the torque feedforward amount during speed control.
Speed Reference Set- Set the speed. This parameter can be changed during operation.
OL10
ting The unit depends on the set value of bits 0 to 3 in OW03.
Set the torque limit for the speed reference. The same value is used
OL14 Torque/Force Limit
in both the forward and reverse directions.
This parameter allows the speed to be changed without changing
the value of OL10.
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
4-92
Register
Address
IW08
Response Code This parameter is 23 during execution of the VELO command.
formed for the VELO command. This bit changes to 0 (Completed) when
Bit 0 tion Flag
IW09 Command Hold This bit is always 0 (Command hold not completed) for the VELO com-
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
IW09 Command Execu- This bit is always 0 (Normal execution not completed) for the VELO

cases.
IW0C
Bit 3
cases.
|(IL12) − (IL16)| ≤ OL20
Timing Charts
4
OW08 = 23 (VELO)
IW08 = 23 (VELO)
IW09 Bit 0 (BUSY)
IW09 Bit 3 (FAIL)
IW0C Bit 0 (DEN)
1 scan
4-93
OW08 = 23 (VELO)
OW09 Bit 1 (ABORT)
IW08 = 23 (VELO)
IW09 Bit 0 (BUSY)
IW09 Bit 3 (FAIL)
IW0C Bit 0 (DEN) Position Control
Speed Control Mode Mode
OW08 = 23 (VELO)
IW08 = 23 (VELO)
IW09 Bit 0 (BUSY)
IW09 Bit 3 (FAIL)
IW0C Bit 0 (DEN)
Position
Speed Control Mode Control Mode
 Execution When Holding
OW08 = 23 (VELO)
OW09 Bit 0 (HOLD)
IW08 = 23 (VELO)
IW09 Bit 0 (BUSY)
IW09 Bit 1 (HOLDL)
IW09 Bit 3 (FAIL)
IW0C Bit 0 (DEN)
1 scan
Speed Control Mode Position Control Mode
OW08 = 23 (VELO)
IW08 = 23 (VELO)
IW09 Bit 0 (BUSY)
IW09 Bit 3 (FAIL)
IW0C Bit 0 (DEN)
1 scan
Alarms
4-94
4.2.24 TRQ (Issue Torque/Force Reference)

Execute the TRQ command to operate in Torque/Force Control Mode.
This enables the same operation as when the SERVOPACK analog torque reference input is
used.
Information Position information and speed feedback values are not updated when the SVR Function
Module is used.

2

• OW03, Bits C to F (Torque Unit Selection)

• OW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.
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 Torque
Control Mode.

Torque Control Mode is turned OFF.
This concludes the torque control operation.
Operating Patterns 4
The following figure shows the operating pattern when the TRQ command is executed.
Torque
0 Time (t)
4-95
Holding
restarted.
Canceling
• Set bit 1 (Cancel Command) in the OW09 setting parameter to 1 (Cancel Command
ON).
• Torque Control Mode resumes if bit 1 (Cancel Command) in the OW09 setting parame-
ter is set to 0 (Cancel Command OFF) during processing of the cancel operation.
mand 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 exe-
cuted.
Important • INTERPOLATE
• 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.
Related Parameters
Register
Address
OW00 After the mode is changed to Torque Control Mode, set this bit to 1
Servo ON
Bit 0 to start operation.
Select the stop method to use when torque control is canceled.
Stop Mode Selection
1: Stop immediately
OW03 Function Settings 1 Select the torque unit.
Set this parameter to 24 (TRQ) to change operation to Torque/Force
Control Mode.
4-96

Register
Address
When this bit is set to 1 (ON) during an issue torque reference oper-
OW09 ation, 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 deceler-
Cancel Command
Bit 1 ate to a stop.
Torque/Force Reference Set the value of the torque reference. This parameter can be
OL0C Setting or Torque Feed- changed 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 percent-
OW0E
Force Reference age of the rated speed.
Linear Deceleration
Specify the deceleration rate when torque control is canceled as the
deceleration time.
Constant

Register
Address
IW08
Response Code This parameter is 24 during execution of the TRQ command.
formed for the TRQ command. This bit changes to 0 (Completed) when
Bit 0 tion Flag
IW09 Command Hold This bit is always 0 (Command hold not completed) for the TRQ com-
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
IW09 Command Execu- This bit is always 0 (Normal execution not completed) for the TRQ com-
Bit 8 tion Completed mand.
IW0C Distribution Com- the travel motion command is completed. 4
cases.
IW0C
Bit 3
cases.
|(IL12) − (IL16)| ≤ OL20
4-97
Timing Charts
OW08 = 24 (TRQ)
IW08 = 24 (TRQ)
IW09 Bit 0 (BUSY)
IW09 Bit 3 (FAIL)
IW0C Bit 0 (DEN)
1 scan
OW08 = 24 (TRQ)
OW09 Bit 1 (ABORT)
IW08 = 24 (TRQ)
IW09 Bit 0 (BUSY)
IW09 Bit 3 (FAIL)
IW0C Bit 0 (DEN)
Position
IW0C Bit 1 (POSCOMP) Torque Control Mode Control Mode
1 scan
 Execution When Holding
OW08 = 24 (TRQ)
OW09 Bit 0 (HOLD)
IW08 = 24 (TRQ)
IW09 Bit 0 (BUSY)
IW09 Bit 1 (HOLDL)
IW09 Bit 3 (FAIL)
IW0C Bit 0 (DEN)
Position
1 scan Torque Control Mode Control Mode
4-98
OW08 = 24 (TRQ)
IW08 = 24 (TRQ)
IW09 Bit 0 (BUSY)
IW09 Bit 3 (FAIL)
IW0C Bit 0 (DEN)

Alarms Position Control
Torque Control Mode Mode
4-99
4.2.25 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 feed-
forward compensation is set in the OL0C setting parameter (Torque/Force Reference
Setting or Torque Feedforward Compensation). If torque feedforward compensation is not
Important necessary, set 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.

3

• 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.
command.

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)
4-100

Related Parameters
Register
Address
OW00
Servo ON Set this parameter to 1 before setting OW08 to 25 (PHASE).
Bit 0
0: OFF, 1: ON
OW02
Stop Mode Selection 0: Stop according to the Linear Deceleration Rate/Deceleration
Bit 8 to F
Time Constant parameter 1: Stop immediately
Use this bit to enable or disable phase reference calculations when
the PHASE command is executed. This setting determines if pro-
cessing is optimized for electronic shafts or electronic cams.
OW05 Disable Phase Refer-
Setting Precautions
Bit 1 ence Calculation
• Phase reference calculation must be enabled when an electronic
shaft application is used.

• If you use an electronic cam applications, disable it.
Phase control operation is started when this parameter is set to 25
(PHASE).
If a system with an electronic cam is used, set this parameter to
select the method for setting the phase compensation for the refer-
OW09 Electronic Cam Phase
ence value of the cam pattern.
Bit 6 Compensation Type
0: Incremental value addition method,
Set the torque feedforward amount during the issue phase reference
OL0C Setting or Torque Feed-
operation.
Set the speed reference. This parameter can be changed during
OL10 operation.
ting
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.
OL16
Second Speed Com- The setting unit for the OW31 setting parameter is always 4
pensation 0.01%. However, the unit for this parameter can be selected. When
this parameter is used at the same time as OW31, speed com-
pensation is performed twice.
Set the phase bias in reference units.
Setting Precautions
Phase Compensation
OL28 • When an electronic shaft application is used, set the control bias.
Setting
• When an electronic cam application is used, this parameter speci-
fies the target position for the cam pattern.
Set the speed feedforward amount as a percentage of the rated
OW31 Speed Compensation speed.
The setting unit for this parameter is always 0.01%.
4-101
Register
Address
IW08
Response Code This parameter is 25 during execution of the PHASE command.
This bit is always 0 (Completed) for the PHASE command.
Bit 0 tion Flag
IW09 Command Hold This bit is always 0 (Command hold not completed) for the PHASE com-
IW09 during execution of the PHASE command.
Command Error End
IW09 Command Execu- This bit is always 0 (Normal execution not completed) for the PHASE
Bit 1 pleted range.
This bit is 0 (Outside positioning completed range) in all other cases.
IW0C
Bit 3
cases.
|(IL12) − (IL16)| ≤ OL20
Timing Charts
The target position is updated automatically every scan period.
OW08 = 25 (PHASE)
IW08 = 25 (PHASE)
IW09 Bit 0 (BUSY)
IW09 Bit 3 (FAIL)
IW0C Bit 0 (DEN)
4-102

Speed reference is updated every scan period.
OW08 = 25 (PHASE)
IW08 = 25 (PHASE)
IW09 Bit 0 (BUSY)
IW09 Bit 3 (FAIL)
IW0C Bit 0 (DEN)
OW08 = 25 (PHASE)
Alarms

IW08 = 25 (PHASE)
IW09 Bit 0 (BUSY)
IW09 Bit 3 (FAIL)
IW0C Bit 0 (DEN)
4-103
4.2.26 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 setting.
ters when they are overwritten. The KIS command is not required if this function is used. Refer to
Write on page 3-29

2
2. Set the OW08 setting parameter (Motion Commands) to 26 to execute the KIS
motion command.
The value of OW32 is transferred to the Position Loop Integral Time Constant SERVOPACK
parameter and is enabled.
command.

This concludes the process for changing the position loop integral time constant.

Related Parameters
Register
Address
Set this parameter to 26 (KIS) to change the position loop integral time
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
4-104
Register
Address
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
IW09 Command Hold This bit is always 0 (Command hold not completed) for the KIS com-
IW09 during execution of the KIS command.
Command Error End
Bit 8 tion Completed the KIS command ends.
Timing Charts
OW08 = 26 (KIS)

IW08 = 26 (KIS)
OW08 = 26 (KIS)
IW08 = 26 (KIS)
4-105
4.2.27 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.
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 abso-
lutely necessary. You should normally write parameters with the PRM_WR (Write SERVOPACK
Important Parameter) command.
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
parameter. 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 parame-
ters.

1
2 Must be ready for motion operation. Bit 0 in IW00 must be 1.


PPRM_WR motion command.
command.

This concludes the process for writing to non-volatile parameters.

4-106
Related Parameters
Register
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
SERVOPACK Use this bit to select the parameter to write.
OW09
Parameter Access 0: Vendor-specific parameters
Bit 8
Selection 1: Common parameters
SERVOPACK
Parameter Number
SERVOPACK
Parameter Size
SERVOPACK
Parameter Set Value

Register
Address
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.
IW09 Command Hold This bit is always 0 (Command hold not completed) for the PPRM_WR
IW09 during execution of the PPRM_WR command.
Command Error End
Bit 8 tion Completed the PPRM_WR command ends.
Timing Charts 4
OW08 = 27 (PPRM_WR)
IW08 = 27 (PPRM_WR)
4-107
4.2.28 EX_FEED (Jog with External Positioning)
OW08 = 27 (PPRM_WR)
IW08 = 27 (PPRM_WR)

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 positioning final travel distance from the current position. If the external positioning sig-
nal does not turn ON, jogging is continued.

3

• OL46 (External Positioning Final Travel Distance)
• OW04, Bits 4 to 7 (External Positioning Signal Setting)

• If OL36 and OL38 are changed during operation, the specifications of
the SERVOPACK determine whether these changes are applied to acceleration and
deceleration.
• 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.
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.

This concludes the jog with external positioning operation.
4-108
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)

(OL36) (OL38)
 Operating Pattern with External Positioning

Speed (%)
Rated speed
(100%)

Feed Speed External Positioning
0
Time (t)
Linear Deceleration
Linear Acceleration Time Constant
Time Constant (OL38)
(OL36)
Latch signal (external positioning signal)
Holding
Holding execution of the EX_FEED command is not possible. Bit 0 (Hold Command) in the
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). 4
• The jogging operation resumes if bit 1 (Cancel Command) in the OW09 setting param-
eter is set to 0 (Cancel Command OFF) during processing of the cancel operation.
mand code is changed before external positioning is performed.
4-109
Related Parameters
Register
Address
OW00
Servo ON Set this bit to 1 before setting OW08 to 34 (EX_FEED).
Bit 0
P control.
Bit 3 Switch
Stop Mode Selection
1: Stop immediately
OW04 External Positioning Set the signal to use for external positioning.
Bit 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
OW08 Motion Commands set 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.
Set the speed for external positioning with jogging. This parameter
OL10 can be changed during operation. The unit depends on the set value
ting
of bits 0 to 3 in OW03.
Set the torque limit for external positioning with jogging. This param-
OL14 Torque/Force Limit eter 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 chang-
ing the value of OL10.
OL1E
OL20
Linear Acceleration
Set the jogging acceleration rate with the acceleration rate or the
acceleration time.
Constant
Linear Deceleration
Set the jogging deceleration rate with the deceleration rate or the
deceleration time.
Constant
OW3A Filter Time Constant
in bits 8 to B in OW03. This setting can be changed only when
distribution has been completed (i.e., when bit 0 in IW0C is 1).
OL46 Set the travel distance after the external positioning signal is input.
4-110
Register
Address
IW08
Response Code This parameter is 34 during execution of the EX_FEED command.
formed for the EX_FEED command. This bit changes to 0 (Completed)
Bit 0 tion Flag
when cancel processing has been completed.
IW09 Command Hold This bit is always 0 (Command hold not completed) for the EX_FEED
IW09 during execution of the EX_FEED command. The axis will decelerate to
Command Error End
Bit 3 a stop if it is moving. This bit changes to 0 (Completed normally) when
another command is executed.
IW09 Command Execu- This bit is always 0 (Normal execution not completed) for the EX_FEED

cases.
IW0C
Bit 2
IW0C
Bit 3
cases.
|(IL12) − (IL16)| ≤ OL20
Machine Coordinate
This parameter stores the current position in the machine coordinate
IL18 System Latch Posi-
system when the latch signal turned ON.
tion
4-111
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 follow-
ing figure).
This position is reported.
(IL18)
External Positioning Final
Travel Distance

OW08 = 34 (EX_FEED)
IW08 = 34 (EX_FEED)
1scan
IW09 Bit 0 (BUSY)
IW09 Bit 3 (FAIL)
IW0C Bit 0 (DEN)
Latch signal 1 scan This interval is not constant.
(phase-C, EXT1, EXT2, or EXT3)
IW0C Bit 2 (LCOMP)
(Latch Completed)

OW08 = 34 (EX_FEED)
OW09 Bit 1 (ABORT)
IW08 = 34 (EX_FEED)
1scan
IW09 Bit 0 (BUSY)
IW09 Bit 3 (FAIL)
IW0C Bit 0 (DEN)

OW08 = 34 (EX_FEED)
IW08 = 34 (EX_FEED)
IW09 Bit 0 (BUSY)
IW09 Bit 3 (FAIL)
IW0C Bit 0 (DEN)
4-112

OW08 = 34 (EX_FEED)
IW08 = 34 (EX_FEED)
IW09 Bit 0 (BUSY) 1scan
IW09 Bit 3 (FAIL)

IW0C Bit 0 (DEN)
Alarms
External Positioning Final Travel Distance Write Selection

This selection is the same as for External Positioning (EX_POSING). Refer to the following sec-
tion for details.
External Positioning Final Travel Distance Write Selection on page 4-19
4-113
4.2.29 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 (SERVO-
PACK Parameter Read Data). Whether data can be read from memory depends on the product
specifications of the SERVOPACK. Refer to the relevant SERVOPACK manual for details.

2

• OL58 (Address Setting)
Information Make any necessary change to OW51 and OL58 before the MEM_RD com-
mand 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.

MEM_RD motion command.
This concludes the read memory operation.

Related Parameters
Register
Address
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 first address to read in the SERVOPACK memory.
The valid address range depends on the product specifications of
OL58 Address Setting
the SERVOPACK. Refer to the relevant SERVOPACK manual for
details.
4-114
Register
Address
IW08
Response Code This parameter is 35 during execution of the MEM_RD command.
IW09 Command Execu- This bit is 1 (Processing) during execution of the MEM_RD 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 MEM_RD
IW09 during execution of the MEM_RD command.
Command Error End
IW09 Command Execu- This bit changes to 1 (Normal execution completed) when execution
Bit 8 tion Completed of the MEM_RD command ends.
SERVOPACK
This parameter stores the data of the SERVOPACK parameter that
IL38 Parameter Read
was read.
Data
Timing Charts

OW08 = 35 (MEM_RD)
IW08 = 35 (MEM_RD)
OW08 = 35 (MEM_RD)
IW08 = 35 (MEM_RD)
4-115
4.2.30 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 SERVO-
PACK. Refer to the relevant SERVOPACK manual for details.

2

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.

MEM_WR motion command.
This concludes the write memory operation.

Related Parameters
Register
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
SERVOPACK Parame-
OL52 Set the data to write to the specified address.
ter Set Value
Set the first address to write in the SERVOPACK memory.
details.
4-116
Register
Address
IW08
Response Code This parameter is 36 during execution of the MEM_WR command.
IW09 Command Execu- This bit is 1 (Processing) during execution of the MEM_WR command.
IW09 Command Hold This bit is always 0 (Command hold not completed) for the MEM_WR
IW09 during execution of the MEM_WR command.
Command Error End
Bit 8 tion Completed the MEM_WR command ends.
Timing Charts
OW08 = 36 (MEM_WR)

IW08 = 36 (MEM_WR)
OW08 = 36 (MEM_WR)
IW08 = 36 (MEM_WR)
4-117
4.2.31 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 Parameter 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.

2

Information Make any necessary change to OW51 and OL58 before the PMEM_RD
command 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.

PMEM_RD motion command.
This concludes the read from non-volatile memory operation.

Related Parameters
Register
Address
Set this parameter to 37 (PMEM_RD) to read from non-volatile mem-
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
details.
4-118
Register
Address
IW08
Response Code This parameter is 37 during execution of the PMEM_RD command.
IW09 Command Execu- This bit is 1 (Processing) during execution of the PMEM_RD command.
IW09 Command Hold This bit is always 0 (Command hold not completed) for the PMEM_RD
IW09 during execution of the PMEM_RD command.
Command Error End
Bit 8 tion Completed the PMEM_RD command ends.
SERVOPACK
IL38 Parameter Read This parameter stores the data read from the specified address.
Data
Timing Charts

OW08 = 37 (PMEM_RD)
IW08 = 37 (PMEM_RD)
OW08 = 37 (PMEM_RD)
IW08 = 37 (PMEM_RD)
4-119
4.2.32 PMEM_WR (Write Non-volatile Memory)

The PMEM_WR command writes the specified setting data to SERVOPACK non-volatile mem-
ory 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.

2

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.

PMEM_WR motion command.
This concludes the process for writing to non-volatile memory.

4-120
Related Parameters
Register
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
SERVOPACK Parame-
ter Set Value
details.
Register

Address
IW08
Response Code This parameter is 38 during execution of the PMEM_WR command.
IW09 Command Execu- This bit is 1 (Processing) during execution of the PMEM_WR command.
IW09 Command Hold This bit is always 0 (Command hold not completed) for the PMEM_WR
IW09 during execution of the PMEM_WR command.
Command Error End
Bit 8 tion Completed the PMEM_WR command ends.
Timing Charts
 Normal Completion 4
OW08 = 36 (MEM_WR)
IW08 = 36 (MEM_WR)
OW08 = 36 (MEM_WR)
IW08 = 36 (MEM_WR)
4-121
4.2.33 MLTTRN_SET (Multiturn Limit Setting)

Execute the MLTTRN_SET command to set the multiturn limit of the absolute encoder to the
value set in Pn205 (Multiturn Limit) SERVOPACK parameter. Execute the MLTTRN_SET com-
mand when an A.CC0 alarm (Multiturn Limit Disagreement) has occurred on the SERVOPACK.
The MLTTRN_SET command is valid for SERVOPACKs with absolute encoders. The command
will end in an error if the MLTTRN_SET command is executed when an incremental encoder is
used (even if it is used as an absolute encoder) or if a servo amplifier from another company is
Important used.
Refer to the following section for the procedure to set the multiturn limit for a MECHATROLINK-
III slave axis without using this command.
5.3 Multiturn Limit on page 5-47

Communications with the SERVOPACK must be
1 Bit 0 in IW00 must be ON.
synchronized.*1
2 The servo must be OFF. Bit 1 in IW00 must be OFF.
3
must be completed.*2 IW09 must be OFF.
*1. If there is an A.CC0 alarm (Multiturn Limit Disagreement), communications cannot be synchronized just
by turning ON the power supplies to the MP3000. Clear the alarm by setting bit F in OW00 to 1
(ON) to synchronize communications.
*2. Before you change to this command during the execution of another command, you must check
whether the command can be changed and how operation changes when the command is changed.
Refer to the following section for details on changing from another command.
2. Set the OW08 setting parameter (Motion Commands) to 39 to execute the MLT-
TRN_SET motion command.
The A.CC0 alarm (Multiturn Limit Disagreement) in the SERVOPACK will be cleared, and the multiturn
limit of the absolute encoder will be set to the value set in the Pn205 (Multiturn Limit) SERVOPACK
parameter.
During command execution, IW08 (Motion Command Response Code) changes to 39 and bit 0
(BUSY) in IW09 turns ON.
When command execution is completed, bit 0 (BUSY) in IW 09, bit 3 (FAIL) in IW09, and
bit 0 (Motion Operation Ready) in IW00 turn OFF, and bit 8 (COMPLETE) in IW09 turn ON.
3. Set OW08 (Motion Commands) to 0 to execute the NOP motion command and
complete the multiturn limit settings.
5. Execute an origin setting or origin return operation.
Refer to the following section for details on the origin setting operation.
ZSET (Set Zero Point) on page 4-61
Refer to the following section for details on the origin return operation.

If a communications error occurs during command execution, command processing will be
canceled, and the command will end in an error (bit 3 in IW09 will turn ON).
4-122
Related Parameters
Register
Address
OW00 Set this parameter to 1 before setting OW08 to 39 (MLT-
Servo ON
Bit 0 TRN_SET).
The multiturn limit setting operation will begin when 39 (MLT-
TRN_SET) is set.
Even if the command is set to 0 (NOP) during processing, this setting
will be ignored, and the operation will continue.
OW09
Hold Command This bit is ignored for the MLTTRN_SET command.
Bit 0
OW09
Cancel Command This bit is ignored for the MLTTRN_SET command.
Bit 1
Register
Address

This bit shows whether or not communications are synchronized
between the MP3000 and the slave SERVOPACK.
IW00 Motion Operation For the MLTTRN_SET command, this bit is 1 (Motion operation ready) if
Bit 0 Ready communications are synchronized between the MP3000 and the slave
SERVOPACK. This bit is 0 (Motion operation not ready) if communica-
tions are disconnected.
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 Warning This parameter reports the current warning status.
IL04 Alarm This parameter reports the current alarm status.
IW08
Response Code This parameter is 39 during execution of the MLTTRN_SET command.
This bit changes to 1 (Processing) when cancel processing is being
IW09 Command Execu- performed for the MLTTRN_SET command.
Bit 0 tion Flag This bit changes to 0 (Completed) when cancel processing has been
completed.
IW09 during execution of the MLTTRN_SET command.
Command Error End
Bit 3 This bit changes to 0 (Completed normally) when another command is
executed.
IW09 Command Execu- This bit changes to 1 (Completed) when execution of the MLTTRN_SET
Bit 8 tion Completed command ends. 4
Timing Charts
OW08 = 39 (MLTTRN_SET)
IW08 = 39 (MLTTRN_SET)
IW09 Bit 0 (BUSY) This interval is not constant.
IW09 Bit 3 (FAIL)

IW00 Bit 0 (SVCRDY) This interval is not constant.
4-123
OW08 = 39 (MLTTRN_SET)
IW08 = 39 (MLTTRN_SET)
IW09 Bit 0 (BUSY)
IW09 Bit 3 (FAIL)

IW00 Bit 0 (SVCRDY)
4-124
4.3 Motion Subcommand Details

This section describes motion subcommands in detail.

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 (Sta-
tus Monitor) subcommand. Refer to the following section for details.
SMON (Monitor Status) on page 4-132
Related Parameters
The parameters that are related to this subcommand are listed in the following table.
Register
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
Register
Address
Motion Subcom- This parameter shows the motion subcommand that is currently in exe-
IW0A mand Response cution.
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
IW0B
Command Error End during execution of the NOP command. This bit changes to 0 (Com-
Bit 3
pleted normally) when another command is executed.
IW0B Command Execu- This bit changes to 1 (Normal execution completed) when execution of
Bit 8 tion Completed* the 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 4
* The subcommand status of the NOP command (Command Execution Completed) is invalid.
4-125

The PRM_RD subcommand reads the set value from the SERVOPACK RAM of the SERVO-
PACK 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 SERVOPACK Parameter Read Data) monitor parameters.
Two types of SERVOPACK parameters can be read with this command: vendor-specific
parameter to select which type of SERVOPACK parameter to read.

Execution of motion subcommands must be IW0A must be 0 and bit 0 in
1
completed.* IW0B must be 0.
* This subcommand cannot be executed until the execution of other motion subcommands is completed.

• 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
parameters.
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
4. Set OW0A to 0 to execute the NOP motion subcommand.

This concludes the process for reading SERVOPACK parameters.
Related Parameters
Register
Address
Use this bit to select the parameter to read.
OW0A Motion Subcommands Set this parameter to 1 (PRM_RD) to read a SERVOPACK parameter.
Auxiliary SERVOPACK
OW54 Set the number of the SERVOPACK parameter to read.
Parameter Number
Set the size of the SERVOPACK parameter to read.
Set the size in words.
Auxiliary SERVOPACK
OW55 Setting Precautions
Parameter Size
The SERVOPACK user manual lists the sizes in bytes, so those val-
ues must be converted to words.
4-126
Register
Address
This parameter shows the motion subcommand that is currently in
Motion Subcommand
IW0A execution.
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 com-
Bit 0 Flag mand. The bit changes to 0 (Completed) when execution ends.
IW0B
Command Error End during execution of the PRM_RD command. This bit changes to 0
Bit 3
IW0B Command Execution This bit changes to 1 (Normal execution completed) when execution
Bit 8 Completed of the PRM_RD command ends.
Auxiliary SERVOPACK This parameter stores the number of the SERVOPACK parameter
IW37
Parameter Number that was read.
Auxiliary SERVOPACK This parameter stores the data of the SERVOPACK parameter that
IL3A
Parameter Read Data was read.
Timing Charts
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
OW0A = 1 (PRM_RD)
IW0A = 1 (PRM_RD)
IW0B Bit 3 (FAIL) not constant.
IW0B Bit 8 (COMPLETE) 1 scan
IW37 Undefined value

IL3A Undefined value
4-127

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.

1
OW54, OW55, and OL56 must Refer to the list of setting parameters
2
all be set. below.

• OL56 (Auxiliary SERVOPACK Parameter Set Value)

PRM_WR motion subcommand.
this command.

This concludes the process for writing SERVOPACK parameters.
Related Parameters
Register
Address
Use this bit to select the parameter to write.
Set this parameter to 2 (PRM_WR) to write a SERVOPACK parame-
OW0A Motion Subcommands
ter.
Auxiliary SERVOPACK
Parameter Number
Set the size in words.
Auxiliary SERVOPACK
OW55 Setting Precautions
Parameter Size
The SERVOPACK user manual lists the parameter sizes in bytes, so
those values must be converted to words.
Auxiliary SERVOPACK
Parameter Set Value
4-128
Register
Address
Motion Subcommand
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.
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.
Bit 8 Completed of the PRM_WR command ends.
Auxiliary SERVOPACK This parameter reports the number of the SERVOPACK parameter
IW37
Parameter Number that was written.
Timing Charts
OW0A = 2 (PRM_WR)
IW0A = 2 (PRM_WR)

IW0B Bit 0 (BUSY)
This interval is
1 scan
OW0A = 2 (PRM_WR)
IW0A = 2 (PRM_WR)
4-129
4.3.4 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).

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).

INF_RD motion subcommand.
The device information is reported in the monitor parameters.

This concludes the read device information operation.
Related Parameters
Register
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
Register
Address
This parameter shows the motion subcommand currently in execu-
Motion Subcommand
IW0A tion.
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
Bit 0 Flag end.
IW0B during execution of the INF_RD command.
Command Error End
is executed.
Bit 8 Completed of the INF_RD command ends.
4-130

Register
Address
This parameter reports the code that was read.
00 hex: Disabled
Device Information
IW5B 02 hex: Device code
Monitor Code
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
OW0A = 3 (INF_RD)
IW0A = 3 (INF_RD)
IW0B Bit 0 (BUSY)

IW0B Bit 3 (FAIL)
1 scan
IW5B Undefined Specified code
IW70 to IW7F Undefined Read results
OW0A = 3 (INF_RD)
IW0A = 3 (INF_RD)
IW0B Bit 0 (BUSY)
IW0B Bit 3 (FAIL)
IW5B Undefined
IW70 to IW7F Undefined
4-131
4.3.5 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 (SERVO-
PACK 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.
A − Reserved.
B − Reserved.
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 manual for your SERVOPACK for details on the content that you can monitor.
2. Some settings cannot be monitored for some SERVOPACK models.
Important

1

SMON motion subcommand.
The information managed by the SERVOPACK is read and the code is stored in the monitor parame-
ter.
this command.

This concludes the monitor status operation.
4-132
Related Parameters
Register
Address
Set this parameter to 4 (SMON) to execute the monitor status sub-
command.
SERVOPACK User Mon-
OW4E Set the information managed by the SERVOPACK to monitor.
itor Setting
Register
Address
Motion Subcommand
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.
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)
IW0B Bit 0 (BUSY)
IW0B Bit 3 (FAIL)
IW2F Bit C to F 1 scan
Undefined value Monitor 4 = Set value
IL34
Undefined value Monitor results
4-133
4.3.6 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).

1
2. Set the OW5C setting parameter (Fixed Parameter Number).

3. Set the OW0A setting parameter (Motion Subcommands) to 5 to execute the FIX-
PRM_RD motion subcommand.
The current value of the specified fixed parameter is read, and the code is stored in the monitor
parameter.
this command.
During command processing, bit 0 in the IW0B monitor parameter will change to 1 (Process-
ing). When processing is completed, this bit will change to 0 (Completed).

This concludes the read fixed parameter operation.
Related Parameters
Register
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
Register
Address
Motion Subcom- This parameter shows the motion subcommand that is currently in exe-
IW0A mand Response cution.
Code This parameter is 5 during execution of the FIXPRM_RD command.
IW0B Command Execu- This bit is 1 (Processing) during execution of the FIXPRM_RD command.
IW0B
Command Error End during execution of the FIXPRM_RD command. This bit changes to 0
Bit 3
IW0B Command Execu- This bit changes to 1 (Normal execution completed) when execution of
Bit 8 tion Completed the FIXPRM_RD command ends.
Fixed Parameter This parameter reports the fixed parameter data for the specified fixed
IL56
Monitor parameter number.
4-134
Timing Charts
OW0A = 5 (FIXPRM_RD)
IW0A = 5 (FIXPRM_RD)
IW0B Bit 0 (BUSY)
IW0B Bit 3 (FAIL)
IL56 1 scan
Undefined value Monitor results
OW0A = 5 (FIXPRM_RD)
IW0A = 5 (FIXPRM_RD)
IW0B Bit 0 (BUSY)
IW0B Bit 3 (FAIL)
4-135
4.3.7 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 MP3000 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 FIX-
PRM_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:
12 Positive Software Limit -231 to 231−1 Reference units 231−1
14 Negative Software Limit -2 31
to 2 −1
31 Reference units -231

1

Information • OW54 and OL56 are normally used to set SERVOPACK parameter infor-
mation, 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.
this command.

This concludes the change fixed parameter operation.
4-136
Related Parameters
The parameters that are related to this subcommand are listed in the following tables.
Register
Address
Motion Subcom-
OW0A Set this parameter to 6 (FIXPRM_CHG) to read a fixed parameter.
mands
Auxiliary SERVO-
OW54 PACK Parameter Set the number of the fixed parameter to change.
Number
Auxiliary SERVO-
OL56 PACK Parameter Set Set the new value for the target fixed parameter.
Value
Register
Address
Motion Subcommand
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
IW0B
Command Error End during execution of the FIXPRM_CHG command. This bit changes to 0
Bit 3
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 This parameter reports the number of the fixed parameter to change.
Number
Timing Charts
OW0A = 6 (FIXPRM_CHG)
IW0A = 6 (FIXPRM_CHG)
IW0B Bit 0 (BUSY)
IW0B Bit 3 (FAIL)
IW0B Bit 8 (COMPLETE) 4

1 scan
IW37
Undefined value Fixed Parameter Number
OW0A = 6 (FIXPRM_CHG)
IW0A = 6 (FIXPRM_CHG)
IW0B Bit 0 (BUSY)
IW0B Bit 3 (FAIL)
IW37 Undefined value
4-137

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3A monitor parameter (Auxiliary
SERVOPACK Parameter Read Data). Whether data can be read from memory depends on the
product specifications of the SERVOPACK. Refer to the relevant SERVOPACK manual for
details.

2
* This subcommand cannot be executed until the execution of other motion subcommands has com-
pleted.

• OL6A (Auxiliary Address Setting)
Information Make any necessary change to OW55 and OL6A before the MEM_RD com-
mand is executed, or during the same scan that OW0A is set to 7. Do not make
these changes during execution of the MEM_RD command.

MEM_RD motion subcommand.
The MEM_RD command reads the data in SERVOPACK memory and stores the contents in the mon-
itor parameters.
this command.
During command processing, bit 0 (Command Execution Flag) in the IW 0B monitor parameter

This concludes the read memory operation.
Related Parameters
Register
Address
OW0A Motion Subcommands Set this parameter to 7 (MEM_RD) to read from memory.
Auxiliary SERVOPACK Set the size of the data to read from the specified address in words.
OW55
Parameter Size The valid settings for this parameter are 1 and 2.
Auxiliary Address Set- The valid address range depends on the product specifications of
OL6A
ting the SERVOPACK. Refer to the relevant SERVOPACK manual for
details.
4-138
Register
Address
Motion Subcommand
Response Code
This parameter is 7 during execution of the MEM_RD command.
IW0B Command Execution This bit is 1 (Processing) during execution of the MEM_RD com-
IW0B during execution of the MEM_RD command.
Command Error End
is executed.
Bit 8 Completed of the MEM_RD command ends.
Auxiliary SERVOPACK This parameter stores the data of the SERVOPACK parameter that
IL3A
Parameter Read Data was read.
Timing Charts
OW0A = 7 (MEM_RD)
IW0A = 7 (MEM_RD)

IW0B Bit 0 (BUSY)
This interval is
IL3A 1 scan
Undefined value Read results
OW0A = 7 (MEM_RD)
IW0A = 7 (MEM_RD)
IL3A
Undefined value
4-139

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 SERVO-
PACK. Refer to the relevant SERVOPACK manual for details.

2
* This subcommand cannot be executed until the execution of other motion subcommands has com-
pleted.

• OL6A (Auxiliary Address Setting)
Information Make any necessary change to OW55, OL56, and OL6A before the
MEM_WR command is executed, or during the same scan that OW0A is set to 8.
Do not make these changes during execution of the MEM_WR command.

MEM_WR motion subcommand.
The setting value will be written to SERVOPACK memory.
this command.
During command processing, bit 0 (Command Execution Flag) in the IW 0B monitor parameter

This concludes the write memory operation.
Related Parameters
Register
Address
OW0A Motion Subcommands Set this parameter to 8 (MEM_WR) to write to memory.
Auxiliary SERVOPACK Set the size of the data to write to the specified address in words.
OW55
Parameter Size The valid settings for this parameter are 1 and 2.
Auxiliary SERVOPACK
Parameter Set Value
Auxiliary Address Set- The valid address range depends on the product specifications of
OL6A
ting the SERVOPACK. Refer to the relevant SERVOPACK manual for
details.
4-140
Register
Address
Motion Subcommand
Response Code
This parameter is 8 during execution of the MEM_WR command.
IW0B Command Execution This bit is 1 (Processing) during execution of the MEM_WR com-
This bit changes to 1 (Completed with an error) when an error
IW0B occurs during execution of the MEM_WR command.
Command Error End
is executed.
Bit 8 Completed of the MEM_WR command ends.
Timing Charts
OW0A = 8 (MEM_WR)
IW0A = 8 (MEM_WR)
IW0B Bit 0 (BUSY)
This interval is

1 scan
OW0A = 8 (MEM_WR)
IW0A = 8 (MEM_WR)
4-141
4.4 Changing the Command
4.4.1 Motion Command and Subcommand Execution Judgment Table

This section provides tables that indicate whether changing to other commands is possible
during motion command execution and whether subcommands can be executed. This section
also describes operation changes that occur after the motion command is changed.
4.4.1 Motion Command and Subcommand Execution Judg-

ment Table
SVC Function Module Motion Command Execution Judg-

ment Table
The following table indicates whether changing to another command is possible during motion
command execution.
New Command
Current 0 1 2 3 4 6 7 8 9 10 11 12 13 14 15 16
Code
Command NO PO EX ZR IN LA FE ST ZS AC DC SC CH KV KP KF
P S _P ET TE TC ED EP ET C C C G S S S
0 NOP −               
1 POSING × −   × ×  ×  × × × ×   
EX_POS-
2 × Δ −  × ×  × Δ × × × × Δ Δ Δ
ING
3 ZRET × × × − × × × × × × × × × × × ×
INTERPO-
4     −           
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
22 ABS_RST                
23 VELO ×   × × ×   × × × × × × × ×
24 TRQ ×   × × ×   × × × × × × × ×
25 PHASE                
26 KIS                
27 PPRM_WR                
34 EX_FEED × Δ Δ  × ×  ×  × × × × × × ×
35 MEM_RD                
4-142

New Command
Current 0 1 2 3 4 6 7 8 9 10 11 12 13 14 15 16
Code
Command NO PO EX ZR IN LA FE ST ZS AC DC SC CH KV KP KF
P S _P ET TE TC ED EP ET C C C G S S S
36 MEM_WR                
37 PMEM_RD                
38 PMEM_WR                
MLTTRN_
39                
SET
4-143
New Command
Current 17 18 19 20 21 22 23 24 25 26 27 34 35 36 37 38 39
Code
Command PR PR AL AL AL AB VE TR PH KI PP EX ME ME PM PM ML
M_ M_ M_ M_ MH S_ LO Q AS S R _F M_ M_ EM EM TT
0 NOP                 
1 POSING           ×      
EX_POS-
2 Δ Δ Δ Δ Δ Δ × × × Δ ×  Δ Δ Δ Δ Δ
ING
3 ZRET × × × × × × × × × × × × × × × × ×
INTERPO-
4                 
LATE
6 LATCH                 
7 FEED × × × × × ×    × ×  × × × × ×
8 STEP           ×      
9 ZSET                 
10 ACC                 
11 DCC                 
12 SCC                 
CHG_FIL-
13                 
TER
14 KVS                 
15 KPS                 
16 KFS                 
17 PRM_RD −                
18 PRM_WR  −               
19 ALM_MON   −              
20 ALM_HIST    −             
ALMHIST_
21     −            
CLR
22 ABS_RST      −           
23 VELO × × × × × × −   × ×  × × × × ×
24 TRQ × × × × × ×  −  × ×  × × × × ×
25 PHASE         −        
26 KIS          −       
27 PPRM_WR           −      
34 EX_FEED × × × × × ×    × × − × × × × ×
35 MEM_RD             −    
36 MEM_WR      −        −   −
37 PMEM_RD               −  
PMEM_W
38                − 
R
MLTTRN_
39                 −
SET
Note: : Indicates commands that can be changed to.
Δ: Indicates commands that can be executed only when the absolute value specification method is selected
for the position reference type. If the incremental addition method is selected, the axis stops when the com-
mand is changed.
× : 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.
Changing from the INTERPOLATE, LATCH, or PHASE command to the SCC or CHG_FILTER command
before distribution is completed will cause a command error.
4-144
SVC Function Module Motion Subcommand Execution

Judgment Table
The following table shows which subcommands can be executed during execution of motion
commands.
New Subcommand
Current Motion
Code 0 1 2 3 4 5 6 7 8
Command
NOP PRM_RD PRM_WR INF_RD SMON FIXPRM_RD FIXPRM_CHG MEM_RD MEM_WR
0 NOP         
1 POSING         
2 EX_POSING  × ×     × ×
3 ZRET  × ×     × ×
4 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  × ×     × ×
22 ABS_RST  × × ×  × × × ×
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  × ×     × ×
4
39 MLTTRN_SET  × × ×  × × × ×
Note: : Indicates subcommands that can be executed.

×: Indicates subcommands that cannot be executed.
4-145
SVR Function Module Motion Command Execution Judg-

ment Table
New Command
Current 0 1 2 3 4 6 7 8 9 10 11 12 13 23 24 25
Code
Command NO PO EX_ ZR INT LAT FEE STE ZS AC DC SC CH VEL TR PHA
P S P ET E C D P ET C C C G O Q S
0 NOP −               
1 POSING × −   × ×  ×  × × × ×   
EX_POS-
2 × Δ −  × ×  ×  × × × × Δ Δ Δ
ING
3 ZRET × × × − × × × × × × × × × × × ×
INTERPO-
4     −           
LATE
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 changed to.
Δ : Indicates commands that can be executed only when the absolute value specification method is selected
for the position reference type. If the incremental addition method is selected, the axis stops when the com-
mand is changed.
×: Indicates when the current command is canceled and the axis decelerates to a stop.
4-146
4.4.2 Operation after Changing the Motion Command

The 13 motion commands related to axis motion that are listed below are extracted from the
following table: SVC Function Module Motion Command Execution Judgment Table.
New Command
Current 0 1 2 3 4 6 7 8 9 23 24 25 34
Code
Command EX_ ZRE FEE STE ZSE VEL PHA EX_F
NOP POS INTE LAT TRQ
P T D P T O S E
0 NOP −            
1 POSING × −   × ×  ×     
2 EX_POSING ×  −  × ×  ×     
3 ZRET × × × − × × × × × × × × ×
4 INTERPOLATE     −        
6 LATCH      −       
7 FEED ×    × × − ×     
8 STEP ×    × ×  −     
9 ZSET        × −    
23 VELO ×   × × ×   × −   
24 TRQ ×   × × ×   ×  −  
25 PHASE            − 
34 EX_FEED ×    × ×  ×     −

Note: : Indicates commands that can be changed 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 13 commands are
changed to another command during execution are provided below.
4-147
Switching from the POSING Motion Command

This section describes the operation when switching to another command during execution of
the POSING command.
Command Command
before after Operation
Switching Switching
The motion command switches to the NOP command after the axis decel-
erates 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/
deceleration filter is distributed. When execution of the EX_POSING com-
mand 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.)
POSING The acceleration/deceleration filter also Canceled part of
continues operation. POSING operation
POSING EX_POSING
EX_POSING
Motion command POSING EX_POSING
Motion command POSING EX_POSING
response
Changing OL1C (Position Reference Setting) during Deceleration
• Using the Incremental Value Addition Method (When Bit 5 in 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 Setting)
when execution of the EX_POSING command is started.
Precautions
Do not change the Position Reference Setting parameter during decelera-
tion.
Doing so may cause a decrease in speed because the related parameters
are written at the start of EX_POSING execution.
4-148

Command Command
Switching Switching
The motion command immediately switches to the ZRET command. When
this occurs, the travel distance that is stored in the acceleration/decelera-
tion filter is distributed. When execution of ZRET is started, the related SER-
VOPACK parameters are written, and then the origin return operation starts.
to the target speed of the ZRET
The acceleration/deceleration filter also Canceled part of
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

POSING axis decelerates to a complete stop.
Canceled part of
POSING operation
POSING INTERPOLATE
Motion command POSING INTERPOLATE

Motion command POSING INTERPOLATE
response
INTERPOLATE
Is Set to 0)
Any change to OL1C (Position Reference Setting) is ignored.
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
tion.
LATCH Same as the INTERPOLATE command. 4
4-149

Command Command
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.
to the target speed of the FEED
FEED
POSING FEED
Motion command POSING FEED

Motion command POSING FEED
response
The motion command switches to the STEP command after the axis decel-
Canceled part of
POSING operation
POSING STEP Travel Distance
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

Motion command POSING ZSET
response
Precautions
In actual operation, set the origin by executing ZSET when positioning has
been completed.
4-150

Command Command
Switching 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.
to the target speed of the VELO
The acceleration/deceleration filter is Canceled part of
disabled. POSING operation
VELO POSING 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 acceler-
ation/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
The reference value of the TRQ command
is output regardless of the current speed
when the command is switched. Canceled part of
POSING POSING operation
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.
4
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. Canceled part of
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.
4-151
Switching from the EX_POSING Motion Command

the EX_POSING command.
Command Command
Switching Switching
Canceled part of
EX_POSING operation
NOP EX_POSING
Motion command EX_POSING NOP

Motion command EX_POSING NOP
response

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

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
The motion command immediately switches to the POSING command,
and the travel distance that is stored in the acceleration/deceleration filter
is continued.
to the target speed of the POSING
when the command was switched.) Canceled part of
The acceleration/deceleration filter also EX_POSING
continues operation. operation
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.
4-152

Command Command
Switching Switching
The motion command immediately switches to the ZRET command, and
continued.
ZRET
EX_POSING ZRET
Motion command EX_POSING ZRET

Motion command EX_POSING ZRET
response
Precautions
axis decelerates to a complete stop.

EX_POSING Canceled part of
EX_POSING
operation
EX_POSING INTERPOLATE
Motion command EX_POSING INTERPOLATE

Motion command EX_POSING INTERPOLATE
INTERPOLATE response
Is Set to 0)
started.
Precautions
tion.
LATCH Same as the INTERPOLATE command. 4
4-153

Command Command
Switching Switching
continued.
FEED
EX_POSING FEED
Motion command EX_POSING FEED
Motion command EX_POSING FEED

response
Canceled part of
EX_POSING operation
STEP travel distance
STEP
EX_POSING STEP
Motion command EX_POSING STEP

Motion command
response EX_POSING STEP

EX_POSING Is Set to 0)
The motion command switches to the ZSET command after the axis
A machine coordinate
system is created based
on the position where the Canceled part of
axis decelerated to a stop. EX_POSING operation
EX_POSING
Motion command EX_POSING ZSET

response
ZSET OW09 Is Set to 1)
The EX_POSING
operation continues.
EX_POSING

response
Precautions
been completed.
4-154

Command Command
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
control to speed control.
Canceled part of
EX_POSING operation
VELO EX_POSING VELO
Motion command EX_POSING VELO

Motion command
response EX_POSING VELO
The motion command switches to the TRQ command after the axis decel-
erates to a complete stop, and the control mode switches from position
control 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

Precautions
The motion command switches to the PHASE command after the axis
decelerates to a complete stop, and the control mode switches from posi-
tion control to phase control.
The reference value of the PHASE command
when the command is switched. Canceled part of
EX_POSING operation
PHASE
EX_POSING PHASE
4
Motion command EX_POSING PHASE
Motion command EX_POSING PHASE
response
4-155
Switching from the ZRET Motion Command

the ZRET command.
Command Command
Switching Switching
Canceled part of
ZRET operation
NOP ZRET
Motion command ZRET NOP

Motion command ZRET NOP
response
Canceled part of
ZRET operation
ZRET POSING
Motion command ZRET POSING

Motion command ZRET POSING
POSING response
Is Set to 0)
ZRET The target position is the value of OL1C (Position Reference Setting)
when execution of the POSING command is started.
Precautions
tion.
The motion command switches to the EX_POSING command after the axis
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

EX_POSING Motion command ZRET EX_POSING
response
Is Set to 0)
The target position is the value of OL1C (Position Reference Setting)
when execution of the EX_POSING command is started.
Precautions
tion.
4-156

Command Command
Switching Switching
ZRET The ZRET operation continues.
Canceled part of
ZRET operation
ZRET INTERPOLATE
Motion command ZRET INTERPOLATE

Motion command ZRET INTERPOLATE
response
INTERPOLATE Changing OL1C (Position Reference Setting) during Deceleration
Is Set to 0)
started.
Precautions

tion.
LATCH Same as the INTERPOLATE command.
The motion command switches to the FEED command after the axis decel-
Canceled part of
ZRET operation
ZRET
FEED ZRET FEED
Motion command ZRET FEED

Motion command ZRET FEED
response
Canceled part of
ZRET operation
STEP ZRET STEP
Motion command ZRET STEP

4
Motion command ZRET STEP
response
The ZSET command is executed when the axis has decelerated to a com-
plete stop.
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
4-157

Command Command
Switching Switching
The motion command switches to the VELO command after the axis decel-
Canceled part of
ZRET operation
VELO ZRET VELO
Motion command ZRET VELO

Motion command ZRET VELO
response

The motion command switches to the TRQ command after the axis decel-
Canceled part of
ZRET operation
ZRET TRQ
TRQ
Motion command ZRET TRQ

Motion command ZRET TRQ
response

ZRET
The motion command switches to the PHASE command after the axis
Canceled part of
ZRET operation
ZRET PHASE
PHASE
Motion command ZRET PHASE

Motion command ZRET PHASE
response
The motion command switches to the EX_FEED command after the axis
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
4-158
Switching from the INTERPOLATE Motion Command

the INTERPOLATE command.
Command Command
Switching 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
continued.
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:
Is Set to 0)
Incremental value = Target position − IL14 (DPOS)
OL1C = OL1C + Incremental value
4-159

Command Command
Switching Switching
The motion command immediately switches to the EX_POSING command,
and the travel distance that is stored in the acceleration/deceleration filter is
distributed.
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
Is Set to 0)
the travel distance that is stored in the acceleration/deceleration filter is dis-
tributed.
When execution of ZRET is started, the related SERVOPACK parameters
INTERPOLATE are written, and then the origin return operation starts.
related to the origin return operation
ZRET
INTERPOLATE ZRET
Motion command INTERPOLATE ZRET

Motion command
response INTERPOLATE ZRET
The INTERPOLATE operation continues.

INTERPOLATE
The motion command immediately switches to the LATCH command, and

continued.
The reference value of the LATCH command
is output, regardless of the current speed
when the command is switched.
LATCH
INTERPOLATE LATCH
Motion command INTERPOLATE LATCH

Motion command
response INTERPOLATE LATCH
4-160

Command Command
Switching Switching
continued.
FEED continues operation.
INTERPOLATE FEED
Motion command INTERPOLATE FEED

Motion command INTERPOLATE FEED
response
The motion command immediately switches to the STEP command, and

continued.

to the target speed of the STEP
INTERPOLATE The acceleration/deceleration filter also
STEP continues operation.
INTERPOLATE STEP
Motion command INTERPOLATE STEP

Motion command INTERPOLATE STEP
response
the travel distance that is stored in the acceleration/deceleration filter is dis-
tributed.
INTERPOLATE
ZSET
Motion command INTERPOLATE ZSET

Motion command
4
INTERPOLATE ZSET
response
Precautions
been completed.
4-161

Command Command
Switching Switching
the control mode switches from position control to speed control.
The travel distance that is stored in the acceleration/deceleration filter is
canceled.
The acceleration/deceleration filter is
disabled.
VELO INTERPOLATE VELO
Motion command INTERPOLATE VELO

Motion command
response INTERPOLATE VELO

Precautions
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.
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.
INTERPOLATE The reference value of the TRQ command
TRQ
TRQ INTERPOLATE
Motion command INTERPOLATE TRQ

Motion command
response INTERPOLATE TRQ

Precautions
PHASE
INTERPOLATE PHASE
Motion command INTERPOLATE PHASE

Motion command
response INTERPOLATE PHASE

4-162

Command Command
Switching Switching
The motion command immediately switches to the EX_FEED command,
distributed.

related to external positioning
INTERPOLATE EX_FEED
INTERPOLATE EX_FEED
Motion command INTERPOLATE EX_FEED

Motion command INTERPOLATE EX_FEED
response
4-163
Switching from the FEED Motion Command

the FEED command.
Command Command
Switching Switching
NOP FEED
Motion command FEED NOP

Motion command FEED NOP
response

Is Set to 0)
Canceled part of
FEED operation
FEED POSING
Motion command FEED POSING

response
FEED OL1C = OL1C + Incremental value
Precautions
tion is ignored.
POSING • Using the Absolute Value Specification Method (When Bit 5 in

is continued.
FEED POSING

response
4-164

Command Command
Switching Switching
Is Set to 0)
The motion command switches to the EX_POSING command after the
VOPACK parameters are written, and then the positioning operation
starts.
Canceled part of
FEED operation
FEED EX_POSING
Motion command FEED EX_POSING

response
Precautions
tion is ignored.
EX_POSING

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 command based on the current speed
FEED EX_POSING

response
the travel distance that is stored in the acceleration/deceleration filter is 4
continued.
ZRET continues operation. Canceled part of
FEED operation
FEED ZRET
Motion command FEED ZRET

Motion command FEED ZRET
response
4-165

Command Command
Switching Switching
Canceled part of
FEED operation
FEED INTERPOLATE
Motion command FEED INTERPOLATE

Motion command FEED INTERPOLATE
response
INTERPOLATE
Is Set to 0)
started.
Precautions
tion.
FEED The FEED operation continues.
FEED
Canceled part of
FEED operation
STEP
FEED STEP
Motion command FEED STEP

Motion command FEED STEP
response

the jogging operation continues.
The FEED operation continues.
FEED
ZSET
Motion command FEED ZSET
Motion command FEED ZSET
response
Precautions
been completed.
4-166

Command Command
Switching Switching
disabled.
VELO FEED VELO
Motion command FEED VELO

Motion command FEED VELO
response

Precautions
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.
FEED is output, regardless of the current speed
TRQ FEED TRQ
Motion command FEED TRQ

Motion command FEED TRQ
response

Precautions
4

speed when the command is switched.
PHASE
FEED PHASE
Motion command FEED PHASE

Motion command FEED PHASE
response

4-167

Command Command
Switching Switching
continued.
to the target speed of the EX_FEED
FEED EX_FEED continues operation.
FEED EX_FEED
Motion command FEED EX_FEED

Motion command FEED EX_FEED
response
4-168
Switching from the STEP Motion Command

the STEP command.
Command Command
Switching Switching
STEP
NOP
Motion command STEP NOP

Motion command STEP NOP
response

continued.
STEP The acceleration/deceleration filter also

STEP POSING
POSING
Motion command STEP POSING
Motion command STEP POSING
response
Is Set to 0)
4-169

Command Command
Switching Switching
continued.
The acceleration/deceleration
filter also continues operation.
STEP EX_POSING
EX_POSING Motion command STEP EX_POSING

Motion command STEP EX_POSING
response
Is Set to 0)
STEP OW09 Is Set to 1)
Precautions
start of EX_POSING execution.
continued.
continues operation. STEP operation
ZRET
STEP ZRET
Motion command STEP ZRET

Motion command STEP ZRET
response
Precautions
4-170

Command Command
Switching Switching
Canceled part of
STEP operation
STEP INTERPOLATE
Motion command STEP INTERPOLATE

Motion command STEP INTERPOLATE
response
INTERPOLATE
Is Set to 0)
started.
STEP Precautions

tion.
continued.
STEP FEED
Motion command STEP FEED

Motion command STEP FEED
response
4-171

Command Command
Switching Switching
STEP The STEP operation continues.
The STEP operation continues.
STEP
ZSET
Motion command STEP ZSET

Motion command STEP ZSET
response
Precautions
been completed.
disabled.
STEP VELO
VELO
STEP Motion command STEP VELO

Motion command STEP VELO
response

Precautions
the STEP operation by executing the NOP command. Then, check that bit 0
the VELO command.
control mode switches from position control to torque control. The travel
The reference value of the TRQ command is
output, regardless of the current speed when
the command is switched.
STEP TRQ
TRQ
Motion command STEP TRQ

Motion command STEP TRQ
response

Precautions
4-172

Command Command
Switching Switching
speed when the command is switched.
PHASE
STEP STEP PHASE
Motion command STEP PHASE

Motion command STEP PHASE
response

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 command is in progress.
4-173
Switching from the VELO Motion Command

the VELO command.
Command Command
Switching Switching
erates to a complete stop, and the control mode switches from speed con-
trol to position control.
VELO
NOP
Motion command VELO NOP

Motion command VELO NOP
response

the control mode switches from speed control to position control. The travel
disabled.
VELO
VELO POSING
Motion command VELO POSING

Motion command VELO POSING
response
POSING
Precautions
After switching to POSING, the POSING command operates without the
acceleration/deceleration filter. To enable the acceleration/deceleration filter,
hold the VELO operation by executing the NOP command. Then, check that
execute the POSING command.

Is Set to 0)
4-174

Command Command
Switching Switching
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.
disabled.
VELO EX_POSING
Motion command VELO EX_POSING

Motion command VELO EX_POSING
EX_POSING response

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,
VELO check that bit 0 (Distribution Completed) in IW0C is 1 (Completed)
before you execute the EX_POSING command.

Is Set to 0)
The motion command switches to the ZRET command after the axis decel-
erates to a complete stop, and the control mode switches from speed con-
trol to position control.
VELO ZRET
ZRET
Motion command VELO ZRET

Motion command VELO ZRET
4
response

4-175

Command Command
Switching Switching
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
INTERPOLATE Speed Control Mode Position Control Mode

Is Set to 0)
started.
VELO Precautions
tion.
disabled.
FEED
VELO FEED
Motion command VELO FEED

Motion command VELO FEED
response

4-176

Command Command
Switching Switching
disabled.
STEP
VELO STEP
Motion command VELO STEP

Motion command VELO STEP
response

The ZSET command is executed when the axis has decelerated to a com-
plete stop.

on the position where the
axis decelerated to a stop.
ZSET VELO
VELO
Motion command VELO ZSET
Motion command VELO ZSET
response
VELO The VELO operation continues.

control mode switches from speed control to torque control. The travel dis-
tance that is stored in the acceleration/deceleration filter is canceled.
VELO TRQ
TRQ 4
Motion command VELO TRQ
Motion command VELO TRQ
response
Speed Control Mode Torque Control Mode

Precautions
4-177

Command Command
Switching Switching
the control mode switches from speed control to phase control. The travel
PHASE
VELO
VELO PHASE
Motion command VELO PHASE

Motion command VELO PHASE
response
Speed Control Mode Phase Control Mode

4-178
Switching from the TRQ Motion Command

the TRQ command.
Command Command
Switching 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 control mode switches from torque control to position control.

TRQ when the command was switched.)
disabled.
TRQ POSING
POSING Motion command TRQ POSING

Motion command TRQ POSING
response

Is Set to 0)
Continued on next page. 4
4-179

Command Command
Switching Switching
and the control mode switches from torque control to position control.
disabled.
TRQ EX_POSING
Motion command TRQ EX_POSING

Motion command TRQ EX_POSING
response
EX_POSING
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 TRQ operation by executing the NOP command. Then,
check that bit 0 (Distribution Completed) in IW0C is 1 (Completed)
TRQ before you execute the EX_POSING command.

Is Set to 0)
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
4-180

Command Command
Switching 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
INTERPOLATE Torque Control Mode Position Control Mode

Is Set to 0)
started.

Precautions
tion.
Same as the INTERPOLATE command.
TRQ LATCH

the control mode switches from torque control to position control. The
celed.
to the target speed of the FEED command
based on the current speed when the
command was switched.)
disabled.
FEED TRQ FEED
Motion command TRQ FEED

Motion command TRQ FEED
response 4
Precautions
After switching to FEED, the FEED command operates without the acceler-
the TRQ operation by executing the NOP command. Then, check that bit 0
the FEED command.
4-181

Command Command
Switching Switching
the control mode switches from torque control to position control. The
celed.
disabled.
STEP TRQ STEP
Motion command TRQ STEP

Motion command TRQ STEP
response

Precautions
TRQ After switching to STEP, the STEP command operates without the accelera-
tion/deceleration filter. To enable the acceleration/deceleration filter, hold
the STEP command.
The axis decelerates to a stop in Position Control Mode, and then the ZSET
The axis decelerates to a stop
in Position Control Mode from
the speed when the motion
command was switched.
on the position where the
ZSET axis decelerated to a stop.
TRQ
Motion command TRQ ZSET

Motion command TRQ ZSET
response
4-182

Command Command
Switching Switching
the control mode switches from torque control to speed control. The travel
disabled.
TRQ VELO
VELO
Motion command TRQ VELO

Motion command TRQ VELO
response
Torque Control Mode Speed Control Mode

Precautions

TRQ
the VELO command.
TRQ The TRQ operation continues.
the control mode switches from torque control to phase control. The travel
TRQ PHASE
PHASE
Motion command TRQ PHASE
Motion command TRQ PHASE
response
Torque Control Mode Phase Control Mode
Precautions
After switching the command, the PHASE command operates without the
is disabled for the PHASE command.
4
4-183
Switching from the PHASE Motion Command

the PHASE command.
Command Command
Switching 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.
NOP PHASE
Motion command PHASE NOP

Motion command PHASE NOP
response
Phase Control Mode Position Control Mode

the control mode switches from phase control to position control.
PHASE command based on the current speed
PHASE POSING
Motion command PHASE POSING

POSING
Motion command PHASE POSING
response

Is Set to 0)
4-184

Command Command
Switching Switching
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.
Stop to change the SERVOPACK
parameters related to external
positioning
PHASE EX_POSING
EX_POSING
Motion command PHASE EX_POSING
Motion command PHASE EX_POSING
response

Is Set to 0)

the control mode switches from phase control to position control. At this
PHASE 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 origin return operation starts.
parameters related to the origin
return operation
ZRET
PHASE ZRET
Motion command PHASE ZRET

Motion command PHASE ZRET
response
4
The motion command immediately switches to the INTERPOLATE com-
mand, and the control mode switches from phase control to position con-
trol.
PHASE INTERPOLATE
INTERPOLATE
Motion command PHASE INTERPOLATE

Motion command PHASE INTERPOLATE
response

4-185

Command Command
Switching Switching
FEED
PHASE FEED
Motion command PHASE FEED

Motion command PHASE FEED
response

PHASE STEP
PHASE STEP
Motion command PHASE STEP

Motion command PHASE STEP
response

PHASE
ZSET
Motion command PHASE ZSET
Motion command PHASE ZSET
response

Precautions
been completed.
4-186

Command Command
Switching Switching
the control mode switches from phase control to speed control. The travel
disabled.
PHASE VELO
VELO
Motion command PHASE VELO

Motion command PHASE VELO
response

Precautions
the PHASE operation by executing the NOP command. Then, check that bit

0 (Distribution Completed) in IW0C is 1 (Completed) before you exe-
cute the VELO command.
control mode switches from phase control to torque control.
PHASE
TRQ
PHASE TRQ
Motion command PHASE TRQ

Motion command PHASE TRQ
response
Phase Control Mode Torque Control Mode

PHASE The PHASE operation continues.
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.
4
parameters related to external
positioning
EX_FEED
PHASE EX_FEED
Motion command PHASE EX_FEED

Motion command PHASE EX_FEED
response
4-187
Switching from the EX_FEED Motion Command

the EX_FEED command.
Command Command
Switching Switching
NOP EX_FEED
Motion command EX_FEED NOP

Motion command EX_FEED NOP
response

Is Set to 0)
Canceled part of
EX_FEED operation
EX_FEED POSING
Motion command EX_FEED POSING

response
EX_FEED OL1C = OL1C + Incremental value
Precautions
Any change to OL1C (Position Reference Setting) during deceleration
is ignored.
POSING • Using the Absolute Value Specification Method (When Bit 5 in

is continued.
EX_FEED POSING

response
4-188

Command Command
Switching Switching
Is Set to 0)
The motion command switches to the EX_POSING command after the
VOPACK parameters are written, and then the positioning operation
starts.
Canceled part of
EX_FEED operation
EX_FEED EX_POSING
Motion command EX_FEED EX_POSING

response
Precautions
Any change to OL1C (Position Reference Setting) during deceleration
is ignored.
EX_POSING

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 command based on the current speed
EX_FEED EX_POSING

response
the travel distance that is stored in the acceleration/deceleration filter is 4
continued.
ZRET continues operation. EX_FEED operation
EX_FEED ZRET
Motion command EX_FEED ZRET

Motion command EX_FEED ZRET
response
4-189

Command Command
Switching Switching
Canceled part of
EX_FEED operation
EX_FEED INTERPOLATE
Motion command EX_FEED INTERPOLATE

Motion command EX_FEED INTERPOLATE
response
INTERPOLATE
Is Set to 0)
started.
Precautions
tion.
EX_FEED continued.
EX_FEED FEED
Motion command EX_FEED FEED

Motion command EX_FEED FEED
response
Canceled part of
EX_FEED operation
STEP
EX_FEED STEP
Motion command EX_FEED STEP

Motion command EX_FEED STEP
response
4-190

Command Command
Switching Switching
the jogging operation continues.
The EX_FEED operation continues.
EX_FEED
ZSET
Motion command EX_FEED ZSET
Motion command EX_FEED ZSET
response
Precautions
been completed.
(Acceleration or deceleration is performed to
the target speed of the VELO command
based on the current speed when the
command was switched.)

canceled.
EX_FEED VELO
VELO
Motion command EX_FEED VELO

EX_FEED Motion command
response EX_FEED VELO

Precautions
the EX_FEED operation by executing the NOP command. Then, check that
execute the VELO command.
control mode switches from position control to torque control.
is output, regardless of the current speed 4
TRQ EX_FEED TRQ
Motion command EX_FEED TRQ

Motion command EX_FEED TRQ
response

Precautions
4-191

Command Command
Switching Switching
PHASE
EX_FEED EX_FEED PHASE
Motion command EX_FEED PHASE

Motion command EX_FEED PHASE
response
EX_FEED The EX_FEED operation continues.
4-192
4.5 Motion Language Instructions

Motion language instructions are used to write text-based motion control programs. This sec-
tion provides a list of motion language instructions required for motion programs. Refer to the
following manual for details on each language instruction.
Machine Controller MP3000 Series Motion Programming Manual (Manual No.: SIEP C880725 14)
Instruc-
Instruc-
tion Name Format Description
tion
Type
ABS;
Causes all subsequent coordi-
Absolute or
ABS nates to be treated as absolute
Mode ABS MOV [Logical_axis_name_1] −
values.
[Logical_axis_name_2] − ;
INC;
Causes all subsequent coordi-
Incremental or
INC nates to be treated as incre-
Mode INC MOV [Logical_axis_name_1] −
mental values.
[Logical_axis_name_2] − ;
ACC [Logical_axis_name_1] Accelera-
Sets the acceleration times for
tion_time
positioning instructions.
Change Accel- [Logical_axis_name_2] Accelera-
ACC A maximum of 32 axes can be
eration Time tion_time
designated in one instruction
[Logical_axis_name_3] Accelera-
block.
tion_time ... ;
DCC [Logical_axis_name_1] Decelera-

Sets the deceleration times for
tion_time
Change positioning instructions.
[Logical_axis_name_2] Decelera-
DCC Deceleration A maximum of 32 axes can be
tion_time
Time designated in one instruction
[Logical_axis_name_3] Decelera-
block.
tion_time ... ;
Sets the time constants for the
moving average filters.
A maximum of 32 axes can be
SCC [Logical_axis_name_1] S-curve_-
Change S- designated in one instruction
time_constant
SCC curve Time block.
[Logical_axis_name_2] S-curve_-
Axis Constant The filters are valid for both
time_constant ... ;
Setting positioning instructions and
interpolation instructions.
VEL [Logical_axis_name_1] Feed_-

Sets the speeds for positioning
speed
instructions.
[Logical_axis_name_2] Feed_-
VEL Set Speed A maximum of 32 axes can be
speed
designated in one instruction
[Logical_axis_name_3] Feed_-
block.
speed ... ;
Sets the maximum speed for
The interpolation acceleration
4
Set Maximum
FMX Tmaximum_interpolation_feed_- time is the time from a speed
FMX Interpolation
speed; of zero to this speed. The inter-
Feed Speed
polation deceleration time is
the time from this speed to a
speed of zero.
IFMX [Logical_axis_name_1]Maxi- Sets the maximum speeds for
Set Maximum mum_individual_axis_speed_- the individual axes that are
Individual Axis for_interpolation specified for interpolation
IFMX
Speeds for [Logical_axis_name_2]Maxi- instructions.
Interpolation mum_individual_axis_speed_- You can set a different speed
for_interpolation limit for each axis.
Change Inter-
FUT Uinterpolation_feed_- Changes the speed unit for
FUT polation Feed
speed_unit_number; interpolation instructions.
Speed Unit
4-193

Instruc-
Instruc-
tion
Type
Sets the speed for interpolation
Set Interpola- instructions.
IFP Pinterpolation_feeding_speed_ra-
IFP tion Feed Specify the speed as a per-
tio;
Speed Ratio centage of the maximum
speed.
Sets the acceleration time for
Change Inter-
polation
IAC IAC Tinterpolation_acceleration_time; Specify the time required to
Acceleration
reach the maximum speed
Time
from a speed of 0.
Sets the deceleration time for
Change Inter-
polation
IDC IDC Tinterpolation_deceleration_time; Specify the time required to
Deceleration
decelerate to a speed of 0 from
Time
the maximum speed.
Sets the deceleration time for
Change Inter-
interpolation instructions when
polation
IDH Tinterpolation_deceleration_time_- the axis is temporarily stopped.
IDH Deceleration
for_temporary_stop; Specify the time required to
Time for Tem-
decelerate to a speed of 0 from
porary Stop
the maximum speed.
Axis Change Inter-
Changes the acceleration/
Setting polation
IUT Uinterpolation_acceleration/decel- deceleration unit for interpola-
IUT Acceleration/
eration_unit_number; tion instructions (MVS, SKP,
Deceleration
MCW, and MCC).
Unit
Specifies the axes to use as
component axes for the inter-
polation feed speed.
If “+” or nothing is given before
MVS [+ Logical_axis_name_1] Refer-
the logical axis name, the axis
ence_position
Set Interpola- is used as one of the compo-
[+ Logical_axis_name_2] Refer-
(+ or -) tion Feed nent axes for the interpolation
ence_position
Speed Axes feed speed.
[- Logical_axis_name_3] Refer-
If “-” is given before the logical
ence_position ...;
axis name, the axis operates at
a speed that is synchronized
with the interpolation feed
speed.
Sets the acceleration/decelera-
Set Interpola-
tion mode for interpolation
tion Accelera-
ACCM instructions.
tion/ ACCMODE Mmode_number;
ODE This allows you to specify pro-
Deceleration
cessing multiple interpolation
Mode
instructions in succession.
4-194

Instruc-
Instruc-
tion
Type
MOV [Logical_axis_name_1] Refer-
ence_position Performs positioning using the
[Logical_axis_name_2] Refer- positioning speed.
MOV Positioning
ence_position Up to 32 axes can be specified
[Logical_axis_name_3] Refer- simultaneously.
ence_position ...;
MVS [Logical_axis_name_1] Refer-
ence_position Performs linear movement
[Logical_axis_name_2] Refer- using the interpolation feeding
Linear Interpo-
MVS ence_position speed F.
lation
[Logical_axis_name_3] Refer- Up to 32 axes can be specified
ence_position ... simultaneously.
Finterpolation_feed_speed;
Radius Designation Center Position Designation Radius Designation Center Position Designation
MCW [Logical_axis_name_1]
End_position
[Logical_axis_name_2]
End_position
Ucenter_point_position
Vcenter_point_position
Tnumber_of_turns Finterpo-
Clockwise Cir- lation_feed_speed;

MCW cular Interpo-
lation
Axis
Move- MCW [Logical_axis_name_1]
ment End_position
End_position Executes circular interpolation
Rradius Finterpolation_- at tangential speed F for two
feed_speed; axes simultaneously following
radius R or designated center
point coordinates.
Multiple circles can be speci-
fied after “T” if the center point
MCC [Logical_axis_name_1]
coordinate is specified.
End_position
(“T” can be omitted.)
End_position
Tnumber_of_turns Finterpo-
Counterclock- lation_feed_speed;
MCC wise Circular
Interpolation
4
End_position
End_position
Rradius Finterpolation_-
feed_speed;
4-195

Instruc-
Instruc-
tion
Type
Center Position Designation

End_position
End_position
End_position_for_linear_in-
terpolation
Clockwise Tnumber_of_turns Finterpo-
MCW Helical Inter- lation_feed_speed;
polation
Center Position Designation Radius Designation
End_position
End_position
Rradius Moves three axes simultane-
[Logical_axis_name_3] ously with a combination of cir-
End_position_for_linear_in- cular interpolation and linear
terpolation interpolation outside the circu-
Finterpolation_feed_speed; lar interpolation plane. Speed F
is the circular interpolation tan-
MCC [Logical_axis_name_1] gential speed.
End_position The number of turns can be
[Logical_axis_name_2] specified after “T” if the center
End_position point coordinate is specified.
Ucenter_point_position (“T” can be omitted.)
Axis End_position_for_linear_in-
Move- terpolation
ment Counterclock- Tnumber_of_turns Finterpo-
MCC wise Helical lation_feed_speed;
Interpolation
Radius Designation
End_position
End_position
Rradius
End_position_for_linear_in-
terpolation
Finterpolation_feed_speed;
ZRN [Logical_axis_name_1]0
Zero Point
ZRN [Logical_axis_name_2]0 Returns each axis to its origin.
Return
[Logical_axis_name_3]0 ...;
MOV [Logical_axis_name_1] Refer-
Performs positioning to the
ence_position
next block after distribution is
Position after [Logical_axis_name_2] Refer-
DEN completed without waiting for
Distribution ence_position
a Positioning Completed sig-
[Logical_axis_name_3] Refer-
nal.
ence_position ... DEN;
SKP [Logical_axis_name_1] Refer-
ence_position
If the SKIP signal turns ON
during a linear interpolation
ence_position
SKP Skip Function operation, the remaining move-
ment is skipped and operation
ence_position ...
proceeds to the next block.
Finterpolation_feed_speed
SSskip_input_signal_selection;
4-196

Instruc-
Instruc-
tion
Type
MVT [Logical_axis_name_1] Refer-
ence_position
Executes positioning by adjust-
Set-time Posi- ing the feed speed so that
MVT ence_position
tioning travel can be completed at the
designated time.
ence_position ...
Axis Tpositioning_time(ms);
Move-
ment If an external positioning signal
is input during external posi-
EXM [Logical_axis_name_1] Refer-
tioning, the axis is moved only
External Posi- ence_position
EXM by the travel distance desig-
tioning Dtravel_distance_from_external_posi-
nated after "D" as an incre-
tioning_signal_input;
mental value, and then the next
instruction is executed.
Changes the current values to
POS [Logical_axis_name_1] New_co- the desired coordinate values.
ordinate_values Subsequent travel commands
Set Current
POS [Logical_axis_name_2] New_co- use this new coordinate sys-
Position
ordinate_values tem.
...; Up to 32 axes can be specified
simultaneously.
Moves to the target position in

the machine coordinate sys-
MVM MOV [Logical_axis_name_1] Ref-
tem. The coordinate system
erence_position
that is set automatically on
Move on [Logical_axis_name_2] Ref-
completion of the origin return
MVM Machine Coor- erence_position
is called the machine coordi-
dinates [Logical_axis_name_3] Ref-
nate system.
erence_position
This coordinate system is not
...;
affected by the POS instruc-
tion.
Updates the program current
Update Pro- position for axes that were
PLD [Logical_axis_name_1]
Axis PLD gram Current moved manually.
[Logical_axis_name_2] ... ;
Control Position Up to 32 axes can be specified
simultaneously.
MVS [Logical_axis_name_1] -
[Logical_axis_name_2] - ... PFN; Causes interpolation move-
Or ment instructions in the same
MVS [Logical_axis_name_1] - block or in the previous block
In-Position
PFN [Logical_axis_name_2] - ...; to proceed to the next block
Check
PFN [Logical_axis_name_1] only after the in-position range
[Logical_axis_name_2]; has been entered.
[Logical_axis_name_2] - ...; 4
Sets the NEAR signal output
widths (i.e., the in-position
INP [Logical_axis_name_1] ranges). The execution of sub-
NEAR_signal_output_width sequent interpolation move-
In-Position
INP [Logical_axis_name_2] ment instructions that are used
Range
NEAR_signal_output_width with a PFN instruction pro-
...; ceed to the next block only
after the NEAR signal output
width is entered.
4-197

Instruc-
Instruc-
tion
Type
[Logical_axis_name_2] - ... PFP;
Causes interpolation move-
Or
ment instructions in the same
Positioning MVS [Logical_axis_name_1] -
block or in the previous block
PFP Completed [Logical_axis_name_2] - ...;
to proceed to the next block
Check PFP [Logical_axis_name_1]
Axis only after positioning has been
[Logical_axis_name_2];
Control completed.
[Logical_axis_name_2] - ...;
PLN [Logical_axis_name_1 (vertical Designates the coordinate
Coordinate axis)] plane to be used for an instruc-
PLN
Plane Setting [Logical_axis_name_2 (horizon- tion that requires a plane des-
tal axis)]; ignation.
IF (Conditional_expression); Executes process 1 if the con-
IF (Process_1); ditional expression is satisfied,
ELSE Branching ELSE; or executes process 2 if the
IEND (Process_2); conditional expression is not
IEND; satisfied.
Repeatedly executes the pro-
WHILE (Conditional_expression);
WHILE cesses between WHILE and
Repetition ...;
WEND WEND as long as the condi-
WEND;
tional expression is satisfied.
Repeatedly executes the pro-
cesses between WHILE and
WHILE (Conditional_expression);
WHILE Repetition with WENDX as long as the condi-
...;
WENDX One Scan Wait tional expression is satisfied.
WENDX;
Executes one loop process per
scan.
PFORK Label_1, Label_2,
Label_3...;
Executes the blocks (forks)
Label_1: Process_1;
that are designated by the
PFORK JOINTO Label_X;
Parallel Execu- labels in parallel.
JOINTO Label_2: Process_2;
tion The END and RET instructions
PJOINT JOINTO Label_X;
cannot be used in parallel exe-
Label_3: Process_3;
Pro- cution processing.
JOINTO Label_X;
gram
Label_X: PJOINT;
Control
SFORK Conditional_expression_1?
Label_1,
Conditional_expression_2?
Label_2,
Label_3,
Label_4; Executes process 1 if condi-
SFORK
Selective Exe- Label_1: Process_1; tional expression 1 is satisfied,
JOINTO
cution JOINTO Label_X; or executes process 2 if condi-
SJOINT
Label_2: Process_2; tional expression 2 is satisfied.
JOINTO Label_X;
Label_3: Process_3;
JOINTO Label_X;
Label_4: Process_4;
JOINTO Label_X;
...;
Label_X: SJOINT;
Call Subpro- Executes the MPS sub-
MSEE MSEE MPS;
gram program.
Call Sequence Executes the SPS sub-
SSEE SSEE SPS;
Subprogram program.
4-198

Instruc-
Instruc-
tion
Type
UFC User_function_name Input_data,
Call User Input_ad- Calls a user-created function
UFC
Function dress, Out- from the motion program.
put_data;
FUNC User_function_name Input_-
data,
User Input_ad- Calls a user-created function
FUNC
Function dress, from the sequence program.
Output_-
data;
END Program End END; Ends the program.
Subprogram
RET RET; Ends the subprogram.
Return
Waits for the period of time
TIM Dwell Time TIM T − ; specified by T, and then pro-
Pro- ceeds to the next block.
gram Waits for the period of time
Control TIM1M One-ms Dwell
TIM1MS T − ; specified by T, and then pro-
S Time
ceeds to the next block.
Stops execution of the motion
I/O Variable
IOW IOW MB − = =...; program until the conditional
Wait

expression is satisfied.
Divides the execution of con-
secutive sequence instruc-
EOX One Scan Wait EOX; tions.
The instruction block after EOX
is executed in the next scan.
Disable Sin-
gle-block Sig-
SNGD; Specifies whether to enable or
SNGD/ nal (SNGD)
...; disable single step operation
SNGE and Enable
SNGE; during debugging.
Single-block
Signal (SNGE)
4-199

Instruc-
Instruc-
tion
Type
Substitutes the results of an
operation. Calculations are
= Substitute Result = Math_expression
performed from left to right
with no order of priority.
Performs integer and real num-
ber addition. If both integers
+ Add MW = MW + MW; and real numbers are included,
calculations are performed with
real numbers.
ber subtraction. If both inte-
- Subtract MW = MW - MW; gers and real numbers are
included, calculations are per-
formed with real numbers.
Performs extended addition of
Numeric ++ Extended Add MW = MW + + MW;
integers.
Opera-
tions Extended Performs extended subtrac-
-- MW = MW - - MW;
Subtract tion of integers.
ber multiplication. If both inte-
∗ Multiply MW = MW ∗ MW; gers and real numbers are
included, calculations are per-
formed with real numbers.
ber division. If both integers
/ Divide MW = MW / MW; and real numbers are included,
calculations are performed with
real numbers.
When programmed in the next
MW = MW / MW; block after a division, MOD
MOD Modulo
MW = MOD; stores the remainder in the
designated register.
4-200

Instruc-
Instruc-
tion
Type
MB = MB | MB;
MB = MB | 1;
MW = MW | MW;
OR (Inclusive MW = MW | 00FFH; Performs a bit or integer inclu-

OR) ML = ML | ML; sive OR operation.
ML = ML | 00FF00FFH;
MQ = MQ | MQ;
MQ = MQ | 00FF00FF 00FF00FFH;
MB = MB & MB;
MB = MB & 1;
MW = MW & MW;
MW = MW & 00FFH; Performs a bit or integer AND
& AND (AND)
ML = ML & ML; operation.
ML = ML & 00FF00FFH;
Logic MQ = MQ & MQ;
Opera- MQ = MQ & 00FF00FF 00FF00FFH;
tions MW = MW ^ MW;
MW = MW ^ 00FFH;
ML = ML ^ ML;
XOR (Exclu- Performs an integer exclusive
^ ML = ML ^ 00FF00FFH;
sive OR) OR operation.
MQ = MQ ^ MQ;
MQ = MWQ ^ 00FF00FF
00FF00FFH;

MB = !MB;
MB = !1;
MW = !MW;
NOT (Logical MW = !00FFH; Returns the inverse of the
!
Complement) ML = !ML; specified bit.
ML = !00FF00FFH;
MQ = !MQ;
MQ = !00FF00FF 00FF00FFH;
IF MB = = MB;
WHILE MB = = MB;
IF MW = = MW;
WHILE MW = = MW;
IF ML = = ML; Used in an IF or WHILE condi-
WHILE ML = = ML; tional expression. If the left side
== Equal
IF MF = = MF; and right side are the same,
WHILE MF = = MF; the condition is TRUE.
IF MQ = = MQ;
WHILE MQ = = MQ;
Numeric IF MD = = MD;
Com- WHILE MD = = MD;
parison
IF MW < > MW;
WHILE MW < > MW;
IF ML < > ML;
4
WHILE ML < > ML; Used in an IF or WHILE condi-
IF MF < > MF; tional expression. If the left side
<> Mismatch
WHILE MF < > MF; and the right side do not
IF MQ < > MQ; match, the condition is TRUE.
WHILE MQ < > MQ;
IF MD < > MD;
WHILE MD < > MD;
4-201

Instruc-
Instruc-
tion
Type
IF MW > MW;
WHILE MW > MW;
IF ML > ML;
WHILE ML > ML; Used in an IF or WHILE condi-
IF MF > MF; tional expression. If the left side
> Greater Than
WHILE MF > MF; is greater than the right side,
IF MQ > MQ; the condition is TRUE.
WHILE MQ > MQ;
IF MD > MD;
WHILE MD > MD;
IF MW < MW;
WHILE MW < MW;
IF ML < ML;
WHILE ML < ML; Used in an IF or WHILE condi-
IF MF < MF; tional expression. If the left side
< Less Than
WHILE MF < MF; is less than the right side, the
IF MQ < MQ; condition is TRUE.
WHILE MQ < MQ;
IF MD < MD;
Numeric WHILE MD < MD;
Com-
parison IF MW >= MW;
WHILE MW >= MW;
IF ML >= ML;
Used in an IF or WHILE condi-
WHILE ML >= ML;
tional expression. If the left side
Greater Than IF MF >= MF;
>= is greater than or equal to the
or Equal To WHILE MF >= MF;
right side, the condition is
IF MQ >= MQ;
TRUE.
WHILE MQ >= MQ;
IF MD >= MD;
WHILE MD >= MD;
IF MW <= MW;
WHILE MW <= MW;
IF ML <= ML;
WHILE ML <= ML; Used in an IF or WHILE condi-
Less Than or IF MF <= MF; tional expression. If the left side
<=
Equal To WHILE MF <= MF; is less than or equal to the right
IF MQ <= MQ; side, the condition is TRUE.
WHILE MQ <= MQ;
IF MD <= MD;
WHILE MD <= MD;
Shifts the bit variable by the
SFR Right Shift SFR MB N W; specified number of bits to the
right.
Shifts the bit variable by the
SFL Left Shift SFL MB N W; specified number of bits to the
left.
Copies the areas of specified
blocks beginning with the
BLK Move Block BLK MW MW W;
specified transfer source to the
Data specified transfer destination.
Manip- Clears the desired area to 0’s
ulations CLR Clear CLR MW W; (zeros) beginning with the
specified register.
Stores the specified data in all
Table registers starting from the tar-
SETW SETW MW DW; W;
Initialization get register to the specified
number of registers thereafter.
Converts the specified charac-
ASCII ters to ASCII text, and stores
ASCII ASCII ‘Text_string’ MW;
Conversion 1 the results of that operation in
the specified registers.
4-202

Instruc-
Instruc-
tion
Type
Calculates the sine.
SIN (MW); The specifications depend on
SIN Sine
SIN (90); whether the data type is inte-
ger or real number.
Calculates the cosine.
COS (MW); The specifications depend on
COS Cosine
COS (90); whether the data type is inte-
ger or real number.
Calculates the tangent.
TAN (MF);
TAN Tangent Only a real number register can
TAN (45.0);
be specified.
Calculates the arc sine.
ASN (MF);
ASN Arc Sine Only a real number register can
ASN (90.0);
be specified.
Calculates the arc cosine.
ACS (MF);
ACS Arc Cosine Only a real number register can
ACS (90.0);
be specified.
Calculates the arc tangent.
ATN (MW); The specifications depend on
ATN Arc Tangent
ATN (45); whether the data type is inte-
ger or real number.

Calculates the square root.
SQT (MW); The specifications depend on
SQT Square Root
SQT (100); whether the data type is inte-
ger or real number.
Converts BCD data to binary
BIN BCD→BIN BIN (MW);
data.
Basic Converts binary data to BCD
BCD BIN→BCD BCD (MW);
Func- data.
tions If the logic operation result is
TRUE, the specified bit turns
ON.
S{} Set Bit S {MB} = MB & MB; However, the specified bit is
not turned OFF even if the
result of the logic operation is
FALSE.
If the logic operation result is
TRUE, the specified bit turns
OFF.
R{} Reset Bit R {MB} = MB & MB;
However, the specified bit is
not turned ON even if the result
of the logic operation is FALSE.
MB = PON (MB MB); 4
Or The bit output turns ON for one
Rising-edge
PON IF PON (MB MB) = = 1; scan when the bit input status
Pulse
⋅ ⋅ ⋅; changes from OFF to ON.
IEND;
MB = NON (MB MB);
Or The bit output turns ON for one
Falling-edge
NON IF NON (MB MB) = = 1; scan when the bit input status
Pulse
⋅ ⋅ ⋅; changes from ON to OFF.
IEND;
Counts the time whenever the
bit input is ON.
On-Delay The bit output turns ON when
TON MB = MB & TON ( MB);
Timer the counted value is equal to
the set value.
Counting unit: 10 ms
4-203

Instruc-
Instruc-
tion
Type
bit input is ON.
TON1M 1-ms ON- The bit output turns ON when
DB = DB & TON1MS ( DB);
S Delay Timer the counted value is equal to
the set value.
Counting unit: 1 ms
bit input is OFF.
Basic
Off-Delay The bit output turns OFF when
Func- TOF MB = MB & TOF ( MB);
Timer the counted value is equal to
tions
the set value.
Counting unit: 10 ms
bit input is OFF.
TOF1M 1-ms OFF- The bit output turns OFF when
DB = DB & TOF1MS ( DW);
S Delay Timer the counted value is equal to
the set value.
Counting unit: 1 ms
4-204
Machine-Specific
Motion Control
5
This chapter provides information and describes settings
that are necessary to perform machine-specific motion
control.
5.1 Motion Parameters . . . . . . . . . . . . . . . . . . . 5-3

5.1.1 Reference Unit . . . . . . . . . . . . . . . . . . . .. . . . . . 5-3
5.1.2 Electronic Gear . . . . . . . . . . . . . . . . . . . .. . . . . . 5-3
5.1.3 Axis Selection . . . . . . . . . . . . . . . . . . . . .. . . . . . 5-5
5.1.4 Position References . . . . . . . . . . . . . . . .. . . . . . 5-6
5.1.5 Speed References . . . . . . . . . . . . . . . . . .. . . . . . 5-9
5.1.6 Acceleration/Deceleration Settings . . . . .. . . . . 5-11
5.1.7 Acceleration/Deceleration Filter Settings . . . . . 5-14
5.1.8 Linear Scale Pitch and Rated Speed . . . .. . . . . 5-15
5.2 Absolute Encoders . . . . . . . . . . . . . . . . . . 5-17

5.2.1 Absolute Position Detection . . . . . . . . . . . . . . . 5-17
5.2.2 Absolute Encoder System Startup . . . . . . . . . . 5-18
5.2.3 Resetting the Absolute Encoder . . . . . . . . . . . . 5-20
5.2.4 Using the SERVOPACK to Reset the Absolute
Encoder . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-24
5.2.5 Reading Position Data When the Power Supply
Is Turned ON . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-25
5.2.6 Position Management Method for Each Machine
Operation Type . . . . . . . . . . . . . . . . . . . . . . . . . 5-26
5.3 Multiturn Limit . . . . . . . . . . . . . . . . . . . . . . 5-47

5.3.1 Check Items before Setup . . . . . . . . . . . . . . . . . 5-47
5.3.2 Setting Procedure . . . . . . . . . . . . . . . . . . . . . . . 5-47
5.3.3 Programming Example . . . . . . . . . . . . . . . . . . . 5-49
5.3.4 Related Parameters . . . . . . . . . . . . . . . . . . . . . 5-51
5.3.5 Multiturn Limit Setting Disagreement Detection
Timing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-51
5.3.6 Checking for a Multiturn Limit Setting
Disagreement . . . . . . . . . . . . . . . . . . . . . . . . . . .5-51
5.3.7 Clearing the Warning . . . . . . . . . . . . . . . . . . . . .5-52
5.4 Absolute Encoders with 24-Bit Resolution . . 5-53

5.4.1 Encoder with 24-Bit Resolution and Electronic
Gear Ratio Settings . . . . . . . . . . . . . . . . . . . . . .5-53
5.4.2 Self Configuration and Encoder Resolution . . . .5-54
5.4.3 Possible Travel Distances and Deceleration
Times for the MP3000 . . . . . . . . . . . . . . . . . . . .5-55
5.1 Motion Parameters
5.1.1 Reference Unit

Set the following eight motion parameters 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)
This section describes settings for the eight items listed above.
5.1.1 Reference Unit

The motion control reference unit can be set to pulses, millimeters, degrees, inches, or
micrometers. 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 No. 5 Fixed parameter No. 4 (Reference Unit Selection)
(Number of Digits
Below Decimal Point) 0: pulse 1: mm 2: deg 3: inch 4: μm
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

5.1.2 Electronic Gear
The amount of change in the mechanical system (i.e., the travel distance) for the input of 1 ref-
erence unit is called the output unit. The electronic gear converts positions or speeds from ref-
erence 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 equiv-
alent to the reference units.
The electronic gear is set with the following fixed parameters.
• No. 6 (Travel Distance per Machine Rotation) 5
• 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).
Important
5-3
5.1.2 Electronic Gear
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
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 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): 6 mm/0.001 mm = 6,000 (reference units)
• No. 8 (Servomotor Gear Ratio Term): m = 7
• No. 9 (Machine Gear Ratio Term): n = 5
To use the electronic gear by setting the motion parameters, set the electronic gear ratio in the
SERVOPACK parameters to 1:1. However, to use a 24-bit resolution encoder, refer to the follow-
ing section and set the electronic gear ratio in the SERVOPACK parameters.
Important 5.4 Absolute Encoders with 24-Bit Resolution on page 5-53
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
5-4
5.1.3 Axis Selection
To use the electronic gear by setting the motion parameters, set the electronic gear ratio in the
SERVOPACK parameters to 1:1. However, to use a 24-bit resolution encoder, refer to the follow-
ing section and set the electronic gear ratio in the SERVOPACK parameters.
Important 5.4 Absolute Encoders with 24-Bit Resolution on page 5-53
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)
5.1.3 Axis Selection

There are two types of position control: finite-length axis position control for round-trip opera-
tion 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
position control or an axis that uses infinite-
Function Selec-
length axis position control that rotates in one
No.1 Bit 0 tion Flags 1, Axis 0
direction only and does not reset its position
Fixed Parame- Selection
data after every rotation. 5
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
No. 10 Axis Reset Posi- position data when the Axis Selection parame- 360000
tion (POSMAX) ter is set to 1 (Infinite-length axis).
5-5
5.1.4 Position References

The target position for position control is set in the OL1C setting parameter (Position Ref-
erence 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
Name Description Default
Type Address
This parameter specifies the type of position reference
data.
0: Incremental value addition method
OW09 Position Ref- This method sets OL1C to the current value of
0
Bit 5 erence Type OL1C plus the current travel distance.
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 the cur-
Setting rent value of OL1C.
Parameters OL1C = OL1C + Incremental travel dis-
tance
Example:
Position Ref- If the current travel distance is 500 and the previous
OL1C erence Set- value of OL1C is 1,000, OL1C will equal 0
ting 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 parame-
ter 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.
OL1C = 10000
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 posi-
Incremental value
ship between OL1C and the current tion, so the position reference can be difficult
addition method
position when a move is canceled. to 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
Absolute value The coordinate of the target position is
operation is not performed, the axis may
specification specified directly, making it easy to under-
move suddenly when a movement motion
method stand.
command is started.
This method also makes the target position
difficult to manage for infinite-length axes.
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 setting method 1 to set the target position.
• When executing a POSING command when no command (NOP) is being executed
5-6
• 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 setting 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 distribution has been completed (i.e., when bit 0 in IW0C is
1).
Important
Incremental value = Target position (a value between 0 and POSMAX) - IL10 (CPOS) +
POSMAX × n
n is the number of POSMAX turns needed to move from the current position (CPOS) to the tar-
get position. 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)
In this case, the reference can be issued even when distribution has not been completed (i.e.,
even when bit 0 in IW0C is 0).
Incremental value = Target position (a value between 0 and POSMAX) - IL10 (CPOS) +
POSMAX × n
OL1C = IL14 (DPOS) + Incremental value

Example When n = 2
Current position Target position

(0 to POSMAX) (0 to POSMAX)
POSMAX
IL10 (CPOS)
IL12 (MPOS)
IL16 (APOS)
IL18 (LPOS)
0
5
231-1
IL0E (TPOS)
0
IL14 (DPOS)
-231
5-7
 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
Previous target position: The directly specified value or the value that was stored in a location
such as an M register.
 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 posi-
tion is changed.
Important
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.
Example When n = -2
Target position Target Position before

(0 to POSMAX) Change (0 to POSMAX)
POSMAX
IL10 (CPOS)
IL12 (MPOS)
IL16 (APOS)
IL18 (LPOS)
0
231-1
IL0E (TPOS)
0
IL14 (DPOS)
-231
5-8
5.1.5 Speed References

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 settings 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 determined by this parameter and
Number of fixed parameter No. 4 (Reference Unit Selection).
No.5 Digits Below Example: 3
Decimal Point 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
Fixed be 0.001 mm.
Parameters This parameter sets the number of rotations when
Rated Motor the motor is rotated at the rated speed (100%
No.34 3,000
Speed speed). Set this parameter according to the specifi-
cations of the motor.
This parameter sets the number of pulses per Ser-
Number of vomotor rotation.
No.36 Pulses Per Example: 65,536
Motor Rotation For a 16-bit encoder, set this parameter to 216 =
65,536.
This parameter sets the unit for the reference
speed.
0: Reference units/s
OW03 Speed Unit
Bit 0 to 3 Selection 1: 10n reference units/min (n: Number of digits 1
below the 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 Selec-
tion) 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 (Refer-
ence 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 Refer- Inch unit: 1 = 0.001 inches/s
OL10 μm unit: 1= 0.001 μm/s 3,000
ence Setting
• When the Speed Unit Selection Is Set to 1 (10n
reference unit/min):
Pulse unit: 1 = 1,000 pulses/min
5
mm unit: 1 = 1 mm/min
Degree unit: 1 = 1 deg/min
Inch unit: 1 = 1 inch/min
μm unit: 1 = 1 μm/min
• When the Speed Unit Selection Is Set to 2
(0.01%):
Set a percentage of the rated motor speed (1 =
0.01%), regardless of the reference unit.
You can set an output ratio (%) for the setting of
this parameter to change the feed speed without
OW18 Override 10,000
changing the Speed Reference Setting.
5-9
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 settings 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
Fixed parame-
OW03 Setting
ter No. 4 (Ref-
Parameter (Speed Reference Speed Example OL10 Setting
erence Unit
Unit Selection)
Selection)
500 (R/s) × 65,536 (pulse/R) = 37,268,000
500 R/s
(pulse/s)
pulse
1,500 (min-1) × 65,536 (pulse/R) ÷ 60 (s) =
1500 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
0 machine that trav- the number of digits below the decimal point
(Reference units/s) els 10 mm for each (0.001 in the above equation), regardless of the
rotation machine configuration.
mm 900 (mm/min) ÷ 0.001 ÷ 60 (s) =
Feed speed of 900
15,000 (0.001 mm/s)
mm/min with a
The speed is determined by the feed speed and
machine that trav-
the number of digits below the decimal point
els 10 mm for each
(0.001 in the above equation), regardless of the
rotation
machine configuration.
(500 (R/s) × 65536 (pulse/R) ÷ 1,000) × 60 (s) =
500 R/s 1966080 (1,000 pulse/min)
1,000 = 10n (n = 3)
pulse
1,500 (min-1) × 65,536 (pulse/R) ÷ 1,000 =
-1 98,304 (1,000 pulse/min)
1500 min
1 1,000 = 10n (n = 3)
(10n reference units/ (500 (mm/s) × 0.001) × 1,000 × 60 (s) = 30,000
Feed speed of 500
min) (mm/min)
mm/s with a
n: Number of digits The speed is determined by the feed speed and
machine that trav-
below the decimal the number of digits below the decimal point
els 10 mm for each
point (0.001 in the above equation), regardless of the
mm rotation
machine configuration.
(n = 3)
Feed speed of 900
mm/min with a (900 (mm/min) × 0.001) × 1,000 = 900 (mm/min)
machine that trav- The speed is determined by the feed speed,
els 10 mm for each regardless of the machine configuration.
rotation
(1,500 (min-1) ÷ 3,000 (min-1)) × 100 (%) ÷ 0.01
2 = 5,000 (0.01%)
(0.01%)
– 1500 min-1
The speed is determined by the ratio (percent-
age) of the feed speed to the rated speed.
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 Selec-
tion, Number of Digits Below Decimal Point, and other parameters.
Setting Example
If the output ratio is 25% … 25 ÷ 0.01 = 2,500
5-10
5.1.6 Acceleration/Deceleration Settings

There are two methods that you can use to set the acceleration and deceleration rate: One sets
the acceleration 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 settings 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
Type
Address
This parameter sets the number of digits below the
decimal point in the reference unit. The minimum
reference unit is determined by this parameter and
Number of Digits fixed parameter No. 4 (Reference Unit Selection).
No.5 Below Decimal Example: 3
Point 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
Fixed be 0.001 mm.
Parame- This parameter sets the number of rotations when
ters Rated Motor the motor is rotated at the rated speed (100%
No.34 3,000
Speed speed). Set this parameter according to the specifi-
cations of the motor.
This parameter sets the number of pulses per Ser-
Number of Pulses vomotor rotation.
No.36 Per Motor Rota- Example: 65,536
tion For a 16-bit encoder, set this parameter to 216 =
65,536.
5-11

Parameter/
Parameter
Type
Address
This parameter sets the unit for the acceleration/
Acceleration/
OW03 deceleration rate.
Deceleration Rate 1
Bit 4 to 7
Unit Selection 0: Reference units/s2
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
Degree unit: 1 = 1 reference unit/s2
Linear Accelera-
Inch unit: 1 = 1 reference unit/s2
tion Rate/Acceler-
OL36 μm unit: 1 = 1 reference unit/s2 0
ation Time
Constant Example: When the number of digits below the
decimal point is set to 3:
mm unit: 1 = 0.001 mm/s2
Setting Degree unit: 1 = 0.001 deg/s2
Parame- Inch unit: 1 = 0.001 inches/s2
ters μm unit: 1= 0.001 μm/s2
Selection is set to 1 (ms), this parameter sets the
time constant from 0 to the rated speed, regard-
less of the reference unit.
This parameter sets the deceleration rate or the
deceleration time constant based on the setting in
bits 4 through 7 in OW03.
Selection is set to 0 (Reference units/s2), this
parameter sets the deceleration rate.
Linear Decelera- Pulse unit: 1 = 1 pulse/s2
tion Rate/Deceler-
OL38 mm unit: 1 = 1 reference unit/s2 0
ation Time
Constant Degree unit: 1 = 1 reference unit/s2
Inch unit: 1 = 1 reference unit/s2
μm unit: 1 = 1 reference unit/s2
Selection is set to 1 (ms), this parameter sets the
time constant from the rated speed to 0, regard-
less of the reference unit.
5-12
Acceleration/Deceleration Rate Unit Selection and Speed

Changes Over Time
The settings for the OL36 setting parameter (Linear Acceleration Rate/Acceleration Time
Constant) 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 settings of OL36 and OL38 are treated as the linear acceleration rate and linear
deceleration rate, respectively.
Speed
(%)
(100%)
Reference speed
Linear Linear
Acceleration Rate Deceleration Rate
OL36 OL38
0 Time
(t)
Time required to reach the reference speed Time required to reach a speed of zero
= Reference speed ÷ Linear acceleration rate = Reference speed ÷ Linear deceleration rate
 When Bits 4 to 7 in OW03 Are Set to 1 (ms)

The setting 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 setting 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)
Time Constant Time Constant 5
(OL36) (OL38)
For the following commands, acceleration/deceleration processing is performed by the SER-

VOPACK.
1: POSING
2: EX_POSING
3: ZRET
7: FEED
8: STEP
34: EX_FEED
5-13
5.1.7 Acceleration/Deceleration Filter Settings
5.1.7 Acceleration/Deceleration Filter Settings

There are two types of acceleration/deceleration filters: an exponential acceleration/decelera-
tion filter and an average movement 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 fol-
lowing table.
Parameter Register
Name Description Default
Type Addresses
This parameter sets the acceleration/deceleration
filter type.
1: Exponential acceleration/deceleration filter
2: Average movement filter
When a filter is used, set the filter type in this
parameter and execute the CHG_FILTER motion
OW03 Filter Type command to apply the change. Refer to the follow-
ing section for details. 0
Bit 8 to B Selection
4.2.13 CHG_FILTER (Change Filter Type) on page
Setting 4-69
Parameters However, when bit A (SERVOPACK Parameter
Auto-Write) in fixed parameter No. 1 is 0 (Enabled),
the filter type is changed to the set filter type when
reference pulse distribution is completed, even if the
CHG_FILTER command is not executed.
This parameter sets the acceleration/deceleration
filter time constant.
Filter Time
OW3A Always make sure that distribution has been com- 0
Constant
pleted (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 parameter setting.
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 Average Movement Filter
No
Acceleration
/Deceleration
OL 36
=0
OL 38
=0 * The curve depends on the OW 3A OW 3A
* STEP input
setting of OW 3A.
OW3A
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 settings of OW3A,
OL36, and OL38.
5-14
5.1.8 Linear Scale Pitch and Rated Speed
If an exponential acceleration/deceleration filter is used with the SVR Function Module, you can
use the setting for the OW3B setting parameter (Bias Speed for Indexed Deceleration/
Acceleration Filter).
Important If the speed goes higher than the value of OW3B, the exponential acceleration/deceleration
filter is enabled.
Exponential acceleration/deceleration filter is enabled.

OW3B
Exponential acceleration/deceleration filter is disabled.

When a linear motor is used, set the following fixed parameters according to the specifications
of the linear 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 parame- Unit and Number of Digits
ter 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 Rated speed: 15 (0.1 m/s)
pulse
Rated speed: 0.1 m/s
Number of pulses per linear scale pitch: 256 (pulses) = 28
Linear scale pitch: 20 (μm)
Number of digits below the Rated speed: 15 (0.1 m/s)
mm
decimal point: 3
Number of digits below the

Linear scale pitch: 20 (μm) 5
μm Rated speed: 15,000 (0.1 mm/s)
decimal point: 0
1. In the following case, 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
Important 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
5-15
 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 parame- Unit and Number of Digits
ter No. 4 below the Decimal Point for
Example Settings
(Reference the Linear Scale Pitch and
Unit Selection) Rated Speed
Linear scale pitch: 400 (nm)
Linear scale pitch: nm Rated speed: 15,000 (0.1 mm/s)
pulse
Rated speed: 0.1 m/s
Linear scale pitch: 40 (reference units)
Number of digits below the 400(nm)=40 (0.00001 mm)
mm Rated speed: 15 (0.1 m/s)
decimal point: 5
Linear scale pitch: 400 (reference units)
Number of digits below the 400(nm)=400 (0.001 μm)
μm Rated speed: 15,000 (0.1 mm/s)
decimal point: 3
1. In the following case, 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
Important 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
5.2 Absolute Encoders
5.2.1 Absolute Position Detection

This section provides information and describes settings that are necessary to perform motion
control with a machine that uses an absolute encoder.
5.2.1 Absolute Position Detection

To detect the absolute position of the machine (axis), the MP3000 constantly reads the current
value of the absolute encoder attached to the Servomotor. As a result, automatic operation can
be immediately 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 an origin return operation
after the power supply is turned ON.
Absolute Encoders
An absolute encoder outputs the absolute position (position data for the rotational angle) from a
reference position (origin of the encoder).
Term The absolute encoder uses a battery connected to the battery terminals of the SERVOPACK to
maintain 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 rotation and a counter that is used to count the number of rotations. After automatic opera-
tion starts, the absolute encoder operates in the same way as an incremental encoder.
5-17
5.2.2 Absolute Encoder System Startup

An absolute encoder system is a system that uses an absolute encoder.
With an absolute encoder system, the origin must be set during the initial setup procedure
when the system is commissioned. There are two origins, the absolute encoder’s origin and the
machine’s origin. These are called the origin of the encoder coordinate system and the origin of
the machine coordinate system.
The absolute encoder system establishes the positional relationship between the origin of the
machine coordinate system and the origin of the absolute encoder.
When the origin is established, positions are then managed based on the origin of the machine
coordinate system. This reference position will not change even if the power supply is turned
OFF. Therefore, it is not necessary to return to the origin after turning ON the power supply.
The following table gives the setup procedure for an absolute encoder system.
Step Item Description
Confirming the Machine Config-
1 Confirm that the components and cable connections are correct.
uration and Wiring
Setting Up the Absolute The absolute encoder is initialized to initialize the multiturn data.
2
Encoder (Initialization) Setting Up the Absolute Encoder (Initialization) on page 5-18
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. Set the related parameters according to the operation
method.
Setting Parameters Related to
3 Finite-length Operation on page 5-26-Parameter Settings on page
Absolute Position Detection 5-26
Infinite-length Operation with Simple Absolute Infinite Axis Position
Management on page 5-32-Parameter Settings on page 5-32
Infinite-length Operation with Non-simple Absolute Infinite Axis
Position Management on page 5-36-Parameter Settings on page 5-
36
Setting the Origin of the
4 –
Machine Coordinate System
The following pages give detailed explanations of setting up the absolute encoder, setting the
origin of the machine coordinate system, and the current value of the machine coordinate sys-
tem.
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 reset the multiturn data in the absolute encoder
Information The position data of the absolute encoder is the position coordinate from the origin of the
absolute encoder.
The absolute encoder position data consists of the following two types of information.
• The amount of rotation from the origin 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 +
Position within one rotation (number of pulses)
Refer to the following section for information on how to reset an absolute encoder.
5.2.3 Resetting the Absolute Encoder on page 5-20
5-18
Setting the Origin of the Machine Coordinate System

After the absolute encoder is initialized, the reference position to operate the machine with the
MP3000 must be set.
The origin of the absolute encoder and the origin of the machine coordinate system will not
match, so they must be corrected. The reference for the origin of the machine coordinate sys-
tem is the origin of the absolute encoder. The deviation from the origin of the absolute encoder
is the correction value (offset), and this establishes the origin position of the machine coordi-
nate system.
Example When encoder position X is set as the origin of the machine coordinate system (0),
OL48 is set to -X.
Origin of machine
coordinate system
Machine coordinate
OL48
Encoder coordinate
Origin of the absolute encoder Encoder position (X)
Each machine axis moves to the reference position for operation, and that position is the origin
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 MP3000 will recognize the current
position when the power supply is next turned ON, as shown in the next section 5.2.5 Reading
Position Data When the Power Supply Is Turned ON. The zero point will not need to be set
again.
Current Value in the Machine Coordinate System

If an absolute encoder is used, the MP3000 calculates the axis position (i.e., the current posi-
tion 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 - 10000 = -9900
You can set this value of -9,900 in OL48 to set the current position in the machine coor-
dinate system as the machine coordinate origin.
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. 5
2. The position when the servo power supply is turned ON is the value that is calculated with the
Important following 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).
5-19
5.2.3 Resetting the Absolute Encoder

This section describes how to reset the absolute encoder from the MP3000.
Preparations
Before you reset the absolute encoder, check the following items:
• Synchronous communications are established with the SERVOPACK (bit 0 in IW00 is 1).
• The Servomotor is OFF (Servo OFF) (bit 1 in IW 00 is 0).
• An absolute encoder is used.
• The Pn002 = n.x SERVOPACK parameter (Encoder Usage in Application Function
Selections 2) is set to 0 (Use the encoder according to the encoder specifications).
Information If there is an A.810 alarm (Encoder Backup Alarm) or A.820 alarm (Encoder Checksum Alarm)
in the SERVOPACK, communications cannot be synchronized just by turning ON the power
supply to the MP3000. Use the Alarm Clear bit (OW00, bit F) to synchronize communica-
tions.
Procedure from the MP3000

Use the following procedure to reset the absolute encoder from the MP3000.
Refer to the following section for details on MEM_WR (Write Memory).
4.2.30 MEM_WR (Write Memory) on page 4-116
1. Writing the Absolute Encoder Reset Request

Use the following parameter settings to write to memory.
Register
Name Setting Description
Addresses
OW08 Motion Command 36 MEM_WR (Write Memory)
OW51 SERVOPACK Parameter Size 1 Number of words
Absolute encoder reset
OL52 SERVOPACK Parameter Setting 1008 hex
request code
Virtual memory address in
OL58 Address Setting 80004000 hex
the SERVOPACK
2. Preparing for Execution

Register
Addresses
The code required for the
OL52 SERVOPACK Parameter Setting 2
preliminary processing
the SERVOPACK
3. Resetting the Absolute Encoder

Register
Addresses
The code required to send
OL52 SERVOPACK Parameter Setting 1 the data and perform the
calibration operation
the SERVOPACK
5-20
4. Completing Absolute Encoder Initialization

Register
Addresses
OL52 SERVOPACK Parameter Setting 0 the data and end the cali-
bration operation
the SERVOPACK

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.
Programming Example
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.
5-21
When MB000000 turns ON, the process

to reset the absolute encoder starts.
5-22
Software timer default value*
5
* The value set in DW00006 is determined as given in the following table.
Condition Setting
High-speed scan setting ≥ MECHATROLINK-III
1
transmission cycle setting
High-speed scan setting < MECHATROLINK-III (MECHATROLINK-III transmission cycle setting/High-speed scan set-
transmission cycle setting ting - 1) × 4 + 1
Example
When High-speed Scan Setting = 1 ms and MECHATROLINK-III Transmission Cycle Setting = 250 μs
• Software timer default value = 1
When High-speed Scan Setting = 0.5 ms and MECHATROLINK-III Transmission Cycle Setting = 1 ms
• Software timer default value = (1 ms / 0.5 ms − 1) × 4 + 1 = 5
5-23
5.2.4 Using the SERVOPACK to Reset the Absolute Encoder
5.2.4 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
SERVOPACK.
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
Important to ensure that this does not occur.
Σ-V Series User’s Manual, Design and Maintenance, Rotational Motor/MECHATROLINK-III Communi-
cations Reference (Manual No.: SIEP S8000000 64)
1. Press the MODE/SET Key to display the Utility

Function Mode main menu. Use the ∧ (UP) or ∨ 㧮㧮‫ޓޓޓޓޓ‬㧙㧲㨁㧺㧯㨀㧵㧻㧺㧙
(DOWN) keys to select Fn008. 㧲㨚㧜㧜㧣
㧲㨚㧜㧜㧤
㧲㨚㧜㧜㧥
㧲㨚㧜㧜㧭
2. Press the DATA Key.

The display will change to the execution display for Fn008
㧮㧮
(absolute encoder setup (initialize) and encoder alarm
reset).
‫ޓ‬㧹㨡㨘㨠㨕㨠㨡㨞㨚‫ޓ‬㧯㨘㨑㨍㨞
If the display does not change and NO-OP is displayed in
the status area, a password has been set prohibiting
write operations with Fn010. Check the status and clear ‫ޓޓޓޓޓ‬㧼㧳㧯㧸㧝
the Write Prohibited setting.
3. Keep pressing the ∧ (UP) key until PGCL1

changes to PGCL5. 㧮㧮
‫ޓޓޓޓޓ‬㧼㧳㧯㧸㧡
4. Press the DATA Key.

BB in the status display will change to “Done.” 㧰㨛㨚㨑
‫ޓޓޓޓޓ‬㧼㧳㧯㧸㧡
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.
5-24
5.2.5 Reading Position Data When the Power Supply Is Turned ON
5.2.5 Reading Position Data When the Power Supply Is

Turned ON
This section describes reading the position data from an absolute encoder.
Reading the Position Data from the Absolute Encoder

When the power supply to the MP3000 is turned ON, the MP3000 reads the absolute encoder
position data from the slave SERVOPACK through MECHATROLINK-III communications.
The MP3000 system automatically reads the position data, so no programming is required.
Turn ON the power supply to the slave SERVOPACK first, or simultaneously turn ON the power
supplies to the MP3000 and slave SERVOPACK.
The flow of the procedure from turning ON the power supply to obtaining the position data is
illustrated in the following figure.
MP3000
SVC Function Module 1. Requesting the SERVOPACK
Monitor parameters current value data
4. Electronic gear
Position Monitors origin offset MECHATROLINK-III Motor
(IL0E
to IL16) Current value in
machine coordinate 3. Sending the current Encoder
system calculated. value data
2. Sending the absolute
value data
Process
Description
Order
After the power supply is turned ON, the MP3000 sends a request to the slave SERVOPACK
1
to send the current value when MECHATROLINK communications are established.
The slave SERVOPACK gets the current value data from the absolute encoder when it
2
receives the current value request.

3 The slave SERVOPACK sends the current value data position information to the MP3000.
The MP3000 calculates the current value in the machine coordinate system from the elec-
4 tronic gear and machine coordinate system zero point offset (in the OL48 setting
parameter) data and places it in the position monitor registers.
5-25
5.2.6 Position Management Method for Each Machine Operation Type
5.2.6 Position Management Method for Each Machine Opera-

tion 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 oper-
ation, precautions for parameter settings, setting the origin, and precautions for when the
power supply is turned OFF and ON.
 Parameter Settings
This section describes the parameter settings for each axis when performing finite-length oper-
ation.
 Fixed Parameter Settings Required for Finite Axis Position Management

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 Setting (Meaning) Reference
0 (Finite-length
0 Axis Selection
axis)  Function Selection Flags 1 on
1
Simple Absolute Infinite Axis Posi- page 3-28
9 0* (Disabled)
tion Management
* When a finite-length axis is selected, the setting of bit 9 is ignored.
 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 follow-
ing table.
Setting
No. Name Setting Reference
Unit
0: pulse
1: mm
 Reference Unit Selection on
4 Reference Unit Selection 2: deg –
page 3-31
3: inch
4: μm
 Encoder Selection on page 3-
30 Encoder Selection 1: Absolute encoder –
33
Number of Pulses Per Motor  Number of Pulses Per Motor
36
Rotation 2N * pulse
Rotation on page 5-27
 Maximum Number of Abso-
Maximum Number of Absolute Rota-
38
Encoder Rotations 0 to 231 - 1 tions
lute Encoder Rotations on page
3-35
* N is the number of encoder bits.
5-26
 SERVOPACK Parameter Settings

The SERVOPACK parameters that must be set for an absolute encoder system are listed in the
following table.
Parameter Name Description Reference
0: Use CCW as the forward direction. (Rotary
Servomotor)
Use the direction in which the linear encoder
Rotation/ counts up as the forward direction. (Linear Ser-
Movement vomotor)
Pn000 n.X −
Direction 1: Use CW as the forward direction. (Rotary Ser-
Selection vomotor)
counts down as the forward direction. (Linear
Servomotor)
Multiturn  Maximum Number of
Pn205 – 0 to 65,535 Absolute Encoder Rota-
Limit tions on page 5-28
0: Use the encoder according to encoder specifi-
Encoder cations.  Encoder Selection on
Pn002 n.X page 5-27
Usage 2: Use the encoder as a single-turn absolute
encoder.
Note: These are parameters for Σ-7-Series SERVOPACKs. Refer to the manual for your SERVOPACK for details on param-
eters for SERVOPACKs in other series.
 Precautions for Parameter Settings

The names of some of the motion parameters and SERVOPACK parameters are different even
though they have the same meaning. Set the values of these motion parameters and SERVO-
PACK parameters so that they are consistent with each other. The following tables list informa-
tion on the settings.
 Encoder Selection
Set the parameters as listed in the following table for an axis that performs absolute position
detection.

Type Parameter Setting
Fixed Parameter No. 30
Motion Parameter 1: Absolute encoder
(Encoder Selection)
SERVOPACK Pn002 = n.X 0: Use the encoder according to encoder specifications.
Parameter (Encoder Usage) 2: Use the encoder as a single-turn absolute encoder.
 Number of Pulses Per Motor Rotation

Refer to the following table and set fixed parameter No. 36 (Number of Pulses Per Motor Rota-
tion) according to the number of encoder bits (resolution).
Fixed Parameter No. 36 (Num-
Encoder Resolution
ber of Pulses Per Motor Rota-
(Number of Bits)
tion)
5
12 4096
13 8192
15 32768
16 65536
17 131072
20 1048576
22 4194304
24 16777216
The setting of the Pn212 (Number of Encoder Pulses) SERVOPACK parameter is not used for
control with the MP3000. It is not necessary to change the setting of Pn212.
5-27
 Maximum Number of Absolute Encoder Rotations

Set the maximum number of absolute encoder rotations.
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
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 fixed parameter No. 38 and SERVOPACK parameter Pn205 to the same values to ensure
that correct motion control is performed and to prevent position variation.
Multiturn limit setting mismatch detection can be used to determine whether both values match.
Important Refer to the following section for details.
6.7 Multiturn Limit Setting Disagreement Detection on page 6-31
 Setting the Origin
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 is operating.
Set the origin after you reset the absolute encoder to set the origin of the machine coordinate
system 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
Servo ON
Jog to near the origin.
Move to the origin in STEP Mode. Repeat for

each axis.
Set OL48 to the value of
(OL48 − IL10).
Set the origin with the ZSET command.
NO
Settings completed for all axes?
YES
END
5-28
• Saving the Value of OL48 before the Power Supply Is Turned OFF
After the origin is set, save the value of the OL48 setting parameter (Zero Point Position
Offset in Machine Coordinate System) before you turn OFF the control power supply to the
SERVOPACK so that the value will be written in OL48 again the next time the power sup-
ply 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. Both of these methods are described below.
• 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 Parameters Area.
5-29
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 Offset in Machine Coordinate System) - (IL10: Machine Coordinate Sys-
tem Calculated Position (CPOS))
3. Check that the current value and setting data value are the same for OL48.
4. Click the Write Button.
The set value is saved to the MP3000.
5. Select Online − Save to Flash from the menu bar of the MPE 720 Ver.7 window.
The setting is saved to flash memory.
6. Set the origin 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.
5-30
• 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 registers when the zero point is set. When the power supply for the MP3000 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 Examples
The following diagram shows an example of the ladder programming to use to store the offset-
ting 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 origin is set, the program subtracts the value of the IL10 monitor parameter
(Machine Coordinate System Calculated Position (CPOS)) from the OL48 setting param-
eter (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 origin 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 sys-
tem origin (The diagram below shows an example of external signal.
The register address here has no special meaning.)

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 origin is set. Process-
ing that constantly saves the value of OL48 to the M registers may cause position varia-
Important tions.
5
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 (POS-
MAX)). With this function, the system can operate the axis as an infinite-length axis that per-
forms repeated positioning in the same direction.
This concept is shown below.
POSMAX
5-31
 Infinite-length Operation Position Management Methods

There are two methods for infinite-length operation position management: a position manage-
ment 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.
Condition 1:
(No. 38: Maximum Number of Absolute Encoder Rotations + 1) / Reset rotations = Inte-
ger (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: Numbers 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: Servomotor 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 manage-
ment must be used to manage the position with ladder programming.
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 origin, and precautions for when the power supply is turned ON
and OFF.
This section describes the parameter settings required for each axis when performing infinite-
length operation 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) to 1 (Enabled).
1: Infinite-length
0 Axis Selection
axis  Function Selection Flags 1 on
1
Simple Absolute Infinite Axis Posi- page 3-28
9 1: Enabled
tion Management
5-32

The following table lists the fixed parameters that must be set to perform infinite-length opera-
tion using simple absolute infinite axis position management.
Setting
Unit
0: pulse*1
1: mm  Reference Unit Selection on
page 3-31
3: inch
4: μm
 Encoder Selection on page 3-
33
Refer-
6
Rotation 1 to 231 − 1 ence –
units
Rota-
8 Servomotor Gear Ratio Term 1 to 65,535 –
tions
Rota-
9 Machine Gear Ratio Term 1 to 65,535 –
tions
Refer-
Infinite-length Axis Reset
10
Position (POSMAX) 1 to 231 − 1 ence –
units
Number of Pulses Per Motor *2  Number of Pulses Per Motor
36
Rotation 2N pulse
Rotation on page 5-34
 Maximum Number of Abso-
38
Encoder Rotations 0 to 231 − 1 tions
lute Encoder Rotations on page
3-35
*1. Electronic gear settings are invalid when the pulse is selected as the reference unit.
*2. N is the number of encoder bits.
• 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 Setting Unit
4 Reference Unit Selection 2 deg
30 Encoder Selection 1 Absolute encoder
6 Travel Distance per Machine Rotation 360000 Reference unit = Degrees
8 Servomotor Gear Ratio Term 6 Rotations
9 Machine Gear Ratio Term 5 Rotations
Infinite-length Axis Reset Position (POS-
10 360000 Reference unit = Degrees
MAX)
36 Number of Pulses Per Motor Rotation 16384 pulse
Maximum Number of Absolute Encoder
38 59705 Rotations
Rotations
Reset number of turns = (360,000 × 6)/(360,000 × 5) = 6/5 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-
length position management can be used.
5-33

following table.
0: Use CCW as the forward direction. (Rotary Ser-
vomotor)
Movement vomotor)
Pn000 n.X −
Selection vomotor)
Servomotor)
Pn002 n.X page 5-27
encoder.

PACK parameters so that they are consistent with each other.
Set the parameters as shown in the following table for an axis that performs absolute position
detection.
(Encoder Selection)
SERVOPACK Pn002 = n.X (Encoder 0: Use the encoder according to encoder specifications.
Parameter Usage) 2: Use the encoder as a single-turn absolute encoder.

tion) according to the number of encoder bits (resolution). This setting can be used for all SER-
VOPACK models.
Encoder Resolution Fixed Parameter No. 36 (Number
(Number of Bits) of 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
control with the MP3000. It is not necessary to change the set value of Pn212.
5-34

Set fixed parameter No. 38 (Maximum Number of Absolute Encoder Rotations) to the same
value as the Pn205 SERVOPACK parameter.
 Setting the Origin
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 is operating.
Set the origin after you reset the absolute encoder to set the origin of the machine coordinate
system 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
Servo ON

Move to the origin in STEP Mode.

Repeat for
each axis.
Set OL48 to the value of
(OL48 − IL10).
NO
5
YES
END
5-35
 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 Posi-
tion Offset in Machine Coordinate System) before you turn OFF the power supply to the
MP3000 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.
Refer to the following sections for details on these methods.
• Saving the Value of OL48 from the MPE720 Parameters Tab Page on page 5-29
• Saving in M Registers from a Ladder Program on page 5-31
 Turning ON the Power after Setting the Origin in the Machine Coordi-
nate System
Bit 5 (Zero Point Return/Setting Completed) in the IW0C monitor parameter changes to 0
(Zero point return/setting not completed) when the power supply to the MP3000 is turned OFF
and ON again or communications are restarted by turning the power supply to the slave SER-
VOPACK OFF and ON again after the zero point has been set. Therefore, you must use the fol-
lowing 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 MP3000. 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) 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
motion command.
Information This process is performed to set bit 5 in IW0C to 1 (Zero point return/setting com-
pleted). This is not the same as the process to set the origin in the machine coordinate sys-
tem (i.e., the process to 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 satis-
fied, non-simple absolute infinite axis position management must be used to manage the posi-
tion with ladder programming 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 origin must also be set when the machine (system) first starts.
This section describes the parameter settings required for each axis when performing infinite-
length operation using non-simple absolute infinite axis position management.
5-36
 Fixed Parameter Settings Required for Infinite Axis Position Management

To perform non-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) to 0 (Disabled).
0 Axis Selection 1: Infinite-length axis
1 Simple Absolute Infinite Axis Posi-
9 0: Disabled on page 3-28
tion Management

The following table lists the fixed parameters that must be set to perform infinite-length opera-
tion using non-simple absolute infinite axis position management.
Setting
Unit
0: pulse*1
1: mm  Reference Unit Selection
on page 3-31
3: inch
4: μm
 Encoder Selection on
page 3-33
Refer-
6
Rotation 1 to 231 − 1 ence –
units
Rota-
8 Servomotor Gear Ratio Term 1 to 65,535 –
tions
Rota-
9 Machine Gear Ratio Term 1 to 65,535 –
tions
Refer-
Infinite-length Axis Reset Position
10
(POSMAX) 1 to 231 − 1 ence –
units
Number of Pulses Per Motor *2  Number of Pulses Per
36 2N pulse

Rotation Motor Rotation on page 5-39
 Maximum Number of
38
Encoder Rotations 0 to 231 − 1 tions
Absolute Encoder Rotations
on page 3-35
*1. Electronic gear settings are invalid when the pulse is selected as the reference unit.
*2. N is the number of encoder bits.

following table.
0: Use CCW as the forward direction. (Rotary Ser-
vomotor)
Use the direction in which the linear encoder 5
Movement vomotor)
Pn000 n.X −
Selection vomotor)
Servomotor)
Pn002 n.X page 5-27
encoder.
5-37
 Setting the Machine Coordinate Origin

The following procedure sets the origin for non-simple absolute infinite axis position manage-
ment.
When the origin is set, the position where the axis stops is specified by using the distance from
the origin of the machine coordinate system. In other words, the position of the origin of the
machine coordinate system is determined by setting the offset from the origin of the encoder.
When the OL48 (Zero Point Position Offset in Machine Coordinate System) setting param-
eter is set to the value of the desired position to set the origin, the setting will be set as the cur-
rent position in the machine coordinate system.
Therefore, to set the origin of the machine coordinate system as the stop position when setting
the origin, set OL48 = 0.
The setting of OL48 is valid only when the ZSET command is executed.
The following flowchart shows the procedure.
START
Servo ON
Move to the origin in STEP Mode. Repeat for

each axis.
Set the desired position

in OL48.
NO
YES
END
 Position Management
For non-simple absolute infinite axis position management, the MP3000 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
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 follow-
ing formula:
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.
5-38
• Encoder Position
Term The unit for this position information is pulses.
• Pulse Position
The pulse position is the position information managed by the MP3000 converted into pulses.
The unit for this position information is pulses.

PACK parameters so that they are consistent with each other.
Set the parameters as shown in the following table for an axis that performs absolute position
detection.
(Encoder Selection)
SERVOPACK Pn002 = n.X 0: Use the encoder according to encoder specifications.
Parameter (Encoder Usage) 2: Use the encoder as a single-turn absolute encoder.

tion) according to the number of encoder bits (resolution). This setting can be used for all SER-
VOPACK models.

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
control with the MP3000. It is not necessary to change the setting of Pn212. 5
5-39

Set fixed parameter No. 38 (Maximum Number of Absolute Encoder Rotations) to the same
value as the Pn205 SERVOPACK parameter.
Creating Ladder Programs for Infinite Axis Position Man-

agement
required for operation and for when the power supply to the system is turned ON.
 During Operation
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) 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 infor-
mation again or execute the ZSET motion command to establish new position information.
5.2.5 Reading Position Data When the Power Supply Is Turned ON on page 5-25
2. Use the ladder program to save the following monitor parameters in the high-speed
scan to M registers.
• 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
Bit 2
(0: Completed, 1: Request)
Position Information Save Request Flag
Bit 3
(0: Prohibited, 1: Request)
MW+1 Not used.
Lower 2 words
Monitor Parameter: (IL5E)
ML+2
Encoder position when the power is
ML+4 Upper 2 words
OFF
(IL60)
Buffer 0
Lower 2 words
Monitor Parameter: (IL62)
ML+6
Pulse position when the power is
OFF
(IL64)
Lower 2 words
Monitor Parameter: (IL5E)
ML+10
Encoder position when the power is
OFF
(IL60)
Buffer 1
Lower 2 words
Monitor Parameter: (IL62)
ML+14
Pulse position when the power is
OFF
(IL64)
5-40
Two sets of buffers are needed to save the power OFF encoder position and the power OFF
pulse position because the program may end without setting all four words of the position infor-
Important mation if the power supply is turned OFF during the high-speed scan.
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 origin setting YES

completed status ON?
NO Position Information Save Request Flag = 1
Has the set origin operation been completed and is NO

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.
End of high-speed scan drawing
The example of ladder programming on the next page is for the above flowchart. Axis 1 of cir-
cuit number 1 is used here. Change the motion parameter register address if the circuit and/or
axis numbers are different.
5
5-41
5-42
 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 supply to the MP3000 or to the slave 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) 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) in the
IW0C monitor parameter changes to 1 (Zero point return/setting completed) and the following
monitor 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.
5-43
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 Position Information Re-setup
Request Flag = 1 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 Position Information Re-setup

Information Reset Request Flag = 1 Enabled Flag = 0
Save Request Flag = 1
End of high-speed scan drawing
5-44
The following example of 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.
Information 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.
5-45
5-46
5.3 Multiturn Limit
5.3.1 Check Items before Setup
5.3 Multiturn Limit

This section describes how to set the multiturn limit from the MP3000 or SERVOPACK.

Check the following items before setting the multiturn limit.
• Synchronous communications are established with the SERVOPACK (bit 0 in IW 00 is 1).
• The Servomotor is OFF (Servo OFF) (bit 1 in IW00 is 0).
• An absolute encoder is used.
• The Pn002 = n.x SERVOPACK parameter (Encoder Usage in Application Function
Selections 2) is set to 0 (Use the encoder according to the encoder specifications).
• 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 setting is changed with parame-
ter Pn205, because the value will differ from the value that is set for the encoder.
Information If there is a A.CC0 alarm (Multiturm Limit Mismatch) in the SERVOPACK, communications
cannot be synchronized just by turning ON the power supply to the MP3000. Use the Alarm
Clear bit (OW00, bit F) to synchronize communications.
5.3.2 Setting Procedure

Use the following procedure to set the multiturn limit from the MP3000.
Refer to the following section for details on MEM_WR (Write Memory).
4.2.30 MEM_WR (Write Memory) on page 4-116
1. Writing the Multiturn Limit Setting Request


Register
Addresses
The multiturn limit setting
OL52 SERVOPACK Parameter Setting 1013 hex
request code
the SERVOPACK
2. Preparing for Execution

Register
Addresses 5
The code required for the
OL52 SERVOPACK Parameter Setting 2
preliminary processing
the SERVOPACK
5-47
5.3 Multiturn Limit
3. Setting the Multiturn Limit

Register
Addresses
OL52 SERVOPACK Parameter Setting 1 the data and perform the
calibration operation
the SERVOPACK
4. Completing the Setting of the Multiturn Limit

Register
Addresses
OL52 SERVOPACK Parameter Setting 0 the data and end the cali-
bration operation
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.
5-48
5.3 Multiturn Limit
5.3.3 Programming Example

The following example of ladder programming 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.
5-49
5.3 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
transmission cycle setting
High-speed scan setting < MECHATROLINK-III (MECHATROLINK-III transmission cycle setting/High-speed scan set-
transmission cycle setting ting - 1) × 4 + 1
Example
When High-speed Scan Setting = 1 ms and MECHATROLINK-III Transmission Cycle Setting = 250 μs
• Software timer default value = 1
When High-speed Scan Setting = 0.5 ms and MECHATROLINK-III Transmission Cycle Setting = 1 ms
• Software timer default value = (1 ms / 0.5 ms − 1) × 4 + 1 = 5
5-50
5.3 Multiturn Limit
5.3.4 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 disagreement regardless of the setting of this parameter.
Fixed Parameter Name Description
Use this bit to specify whether or not to detect a multi-
Finite-length Multiturn Limit
turn limit setting disagreement during finite-length opera-
No.2 Bit 5 Setting Disagreement Detec-
tion.
tion Mask
0: Do not detect, 1: Detect
5.3.5 Multiturn Limit Setting Disagreement Detection Timing

A check will be made for a multiturn limit setting disagreement when the operations in the fol-
lowing 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.
5.3.6 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)
Out-of-range Parameter Num- 1038 (fixed parameter No. 38 (Maximum Number of
IW01
ber Absolute Encoder Rotations))
Motion Operation Ready
IW00 Bit 0 (Motion controller operation 0: OFF (Motion operation not ready)
ready)
5-51
5.3 Multiturn Limit
5.3.7 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 common parameter 24.
2. Write the fixed parameters.

Changing the Set Value of Common Parameter 24 (Multiturn

Limit Setting)
The warning will be cleared when the power supply to the MP3000 is turned OFF and ON
again. The following procedure describes how to clear the warning when a Σ-V-series SERVO-
PACK is connected.
1. Set common parameter 24 to the value of fixed parameter No. 38 using the Digital Oper-
ator.

A multiturn limit disagreement alarm (A.CC0) will occur in the SERVOPACK.
3. Execute Fn013 (Multiturn Limit Setting) from the Digital Operator.

The A.CC0 alarm in the SERVOPACK will be cleared.
5. Turn the power supply to the MP3000 OFF and ON again.

5-52
5.4 Absolute Encoders with 24-Bit Resolution
5.4.1 Encoder with 24-Bit Resolution and Electronic Gear Ratio Settings

Encoders with 24-bit resolutions can be used with Σ-7-Series SERVOPACKs. However, if you
use an encoder with a 24-bit resolution, it may not be possible to specify correct travel dis-
tances and deceleration times with the MP3000.
This section describes settings and precautions when using a 24-bit encoder.
Also, 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.
5.4.1 Encoder with 24-Bit Resolution and Electronic Gear

Ratio Settings
The setting of OL1C (Position Reference Setting) in the MP3000 is two words. Therefore,
the travel distance that you can specify from the MP3000 can be from -2,147,483,648 to
+2,147,483,647 reference units.
There are 16,777,216 pulses per motor rotation of the 24-bit resolution absolute encoder.
Therefore, depending on the machine, the distance that can be traveled may not be sufficient.
The deceleration time during deceleration may also be restricted. Refer to the following section
for details.
5.4.3 Possible Travel Distances and Deceleration Times for the MP3000 on page 5-55
To eliminate this problem, set the electronic gear ratio in the SERVOPACK parameters to 16:1
to use the 24-bit resolution encoder as a 20-bit resolution encoder.
The relation between the electronic gear ratio in the SERVOPACK parameters and the number
of reference pulses in the MP3000 is shown in the following figure.
Electronic Gear
Ratio in the SER-
Operation
VOPACK Param-
eters

MP3000 Σ-7
MECHATROLINK-III
Motor
16:1 Reference unit selection = mm

Pn20E = 16
(Equivalent to Travel distance per machine rotation = 10,000 reference units
20 bits.) Servomotor gear ratio = 1 Pn210 = 1
Machine Gear Ratio Term = 1 Use a 24-bit absolute encoder.
Number of pulses per motor rotation = 1,048,576
5
If a movement of 10,000 reference units is The motor will rotate one rotation for a
commanded, 1,048,576 pulses will be output. command of 1,048,576 servo reference units.
5-53
5.4.2 Self Configuration and Encoder Resolution

Electronic Gear
Ratio in the SER-
Operation
VOPACK Param-
eters
MP3000 Σ-7
MECHATROLINK-III
Motor
Reference unit selection = mm

1:1 Pn20E = 1
Travel distance per machine rotation = 10,000 reference units
(24 bits) Servomotor gear ratio = 1 Pn210 = 1
Machine Gear Ratio Term = 1 Use a 24-bit absolute encoder.
If a movement of 10,000 reference units is The motor will rotate one rotation for a
commanded, 16,777,216 pulses will be output. command of 16,777,216 servo reference units.
If the electronic gear ratio in the SERVOPACK parameters is set to 16:1, the reference unit incre-
ment in the MP3000 will be 16 times its size when the electronic gear ratio in the SERVOPACK
parameters is set to 1:1. In other words, a 24-bit resolution encoder will be used as a 20-bit res-
Important olution encoder.
If high resolution is required, set the electronic gear ratio in the SERVOPACK parameters to 1:1
and set fixed parameter No. 36 (Number of Pulses per Motor Rotation) to 16,777,216.
5.4.2 Self Configuration and Encoder Resolution

When you execute self-configuration, the link assignment is set automatically according to the
encoder information of the connected SERVOPACK.
If the resolution of the encoder exceeds 20 bits at this time, the number of pulses per encoder
rotation will automatically be set as follows so that the resolution of the encoder is equivalent to
20 bits:
• Fixed parameter No.36: 1,048,576
• SERVOPACK electronic gear ratio of 16:1 (Pn20E = 16 and Pn210 = 1)
The electronic gear ratio in the SERVOPACK parameters and the number of pulses per motor
rotation is automatically set as follows based on the resolution of the encoder:
Electronic Gear Ratio in Fixed Parameter 36:
Encoder
the SERVOPACK Number of Pulses Per Motor
Resolution
Parameters Rotation
20 bits or lower 1:1
1,048,576
24 bits 16:1
5-54
5.4.3 Possible Travel Distances and Deceleration Times for the MP3000
5.4.3 Possible Travel Distances and Deceleration Times for

the MP3000
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 MP3000 reference units
 Operation
Target position in
forward direction
2147483647
2147483647
Current
position
0
-2147483648
-2147483648
Target position in
reverse 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 Travel Distance) will
Important turn ON.

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 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), depend on the electronic gear ratio setting, as given in the fol-
lowing table.
Electronic Gear Ratio Reverse Direction Forward 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 values of OL42 and OL46 depend on the setting of fixed parameter No. 4 (Ref- 5
erence 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 No. 6 (Travel Distance per Machine Rotation) × No. 9 (Machine Gear Ratio Term)
2,147,483,647 ×
of OL42 and 2,147,483,647 No. 36 (Number of Pulses per Motor Rotation) × No. 8 (Servo Motor Gear Ratio Term)
OL46
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.
Important
5-55
5.4.3 Possible Travel Distances and Deceleration Times for the MP3000
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
Reference speed [min-1] Electronic Gear Ratio of 16:1 Electronic Gear Ratio of 1:1
(Equivalent to 20 Bits) (24 Bits)
6000 13.65 0.85
3000 27.30 1.70
1500 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.
Important
 Operation
Speed Distance required to decelerate
to a stop (servo reference units)
Reference
speed
[min-1]
The deceleration time will

be longer if the reference
speed is reduced.
Time
Deceleration time [s]
5-56
Other Useful
Functions
6
This chapter describes useful functions related to motion
control that are provided by the MP3000.
6.1 Controlling Vertical Axes . . . . . . . . . . . . . . . 6-3

6.1.1 SERVOPACK Holding Brake . . . . . . . . . . . . . . . . 6-3
6.1.2 Connecting to a Σ-V or Σ-7 Servo Drive . . . . . . . 6-4
6.2 Overtravel . . . . . . . . . . . . . . . . . . . . . . . . . . 6-6

6.2.1 Overtravel Input Signal Connections . . . . . . . . . . 6-6
6.2.2 Parameter Settings . . . . . . . . . . . . . . . . . . . . . . . 6-7
6.3 Software Limits . . . . . . . . . . . . . . . . . . . . . . 6-9

6.3.1 Software Limit Parameter Selection . . . . . . . . . . 6-9
6.3.3 Comparison with the MP2000-series
SVC-01 Module . . . . . . . . . . . . . . . . . . . . . . . . . 6-10
6.3.4 The Effects of Software Limits . . . . . . . . . . . . . 6-11
6.3.5 Processing after an Alarm Occurs . . . . . . . . . . . 6-11
6.4 Modal Latching . . . . . . . . . . . . . . . . . . . . . 6-12

6.4.1 Latch Request . . . . . . . . . . . . . . . . . . . . . . . . . . 6-12
6.4.2 Canceling a Latch Request . . . . . . . . . . . . . . . . 6-12
6.4.3 Latch Signals . . . . . . . . . . . . . . . . . . . . . . . . . . 6-12
6.5 Waiting for Slave Detection with the SVC Function Module . . 6-14
6.5.1 Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-14
6.5.2 Applicable Versions . . . . . . . . . . . . . . . . . . . . . . 6-14
6.5.3 Operating Procedure . . . . . . . . . . . . . . . . . . . . . 6-15
6.5.4 Timing to Complete Slave Detection . . . . . . . . . 6-16
6.5.5 Indicators When the Power Is Turned ON . . . . . 6-17
6.5.6 Precautions . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-17
6.6 Slave CPU Synchronization . . . . . . . . . . . . 6-18
6.6.1 Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .6-18
6.6.2 Applicable Versions and Execution
Conditions . . . . . . . . . . . . . . . . . . . . . . . . . . . . .6-19
6.6.3 Setting Procedure . . . . . . . . . . . . . . . . . . . . . . .6-20
6.6.4 I/O Registers . . . . . . . . . . . . . . . . . . . . . . . . . . .6-24
6.6.5 Execution Flow for Slave CPU
Synchronization . . . . . . . . . . . . . . . . . . . . . . . . .6-25
6.6.6 Procedure to Turn ON Power . . . . . . . . . . . . . . .6-26
6.6.7 Confirmation That the Slave CPU
Is Synchronized . . . . . . . . . . . . . . . .... ... . . .6-26
6.6.8 Handling Input Errors . . . . . . . . . . . .... ... . . .6-27
6.6.9 Effect on Application Program . . . . .... ... . . .6-28
6.6.10 Operation of Slave MP3000 . . . . . . .... ... . . .6-29
6.6.11 Precautions . . . . . . . . . . . . . . . . . . .... ... . . .6-30
6.7 Multiturn Limit Setting Disagreement Detection . . 6-31

6.7.1 Applicable Versions . . . . . . . . . . . . . . . . . . . . . .6-31
6.7.2 Related Parameters . . . . . . . . . . . . . . . . . . . . . .6-32
6.7.3 Multiturn Limit Setting Disagreement Detection
Timing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .6-32
6.7.4 Checking for a Multiturn Limit Setting
Disagreement . . . . . . . . . . . . . . . . . . . . . . . . . . .6-32
6.7.5 Clearing the Warning . . . . . . . . . . . . . . . . . . . . .6-32
6.8 Precautions When Using Σ-7-series SERVOPACKs . . 6-34

6.8.1 MP3000 Versions That Support the Σ-7-series
SERVOPACKs . . . . . . . . . . . . . . . . . . . . . . . . . .6-34
6.8.2 Σ-7-series SERVOPACK Electronic Gear Ratio
and MP3000 Settings . . . . . . . . . . . . . . . . . . . .6-35
6.8.3 Link Assignments . . . . . . . . . . . . . . . . . . . . . . . .6-36
6.8.4 Number of Pulses Per Motor Rotation . . . . . . . .6-36
6.8.5 Self Configuration . . . . . . . . . . . . . . . . . . . . . . .6-36
6.8.6 Operating Specifications When Using
an MP3000 Controller That Supports
the Σ-7-series SERVOPACKs . . . . . . . . . . . . . . .6-37
6.8.7 Operating Specifications When Using
an MP3000 Controller That Does Not
Support the Σ-7-series SERVOPACKs . . . . . . . .6-39
6.1 Controlling Vertical Axes
6.1.1 SERVOPACK Holding Brake

This section describes the connection methods and parameter settings that are required to use
the SERVOPACK to control a vertical axis.
6.1.1 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 SERVOPACK. MP3000 brake control is not performed.
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
Important higher of the rated torque of the motor.
6-3
6.1.2 Connecting to a Σ-V or Σ-7 Servo Drive

This section describes how to connect to a Σ-V or Σ-7 Series Servo Drive.
Brake ON/OFF Circuit Example

A circuit is configured to turn the brake ON and OFF using the /BK contact output signal from
the SERVOPACK and a brake power supply. The following diagram shows a standard connec-
tion example.
Servomotor with a
SERVOPACK 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.
Output Signal Selection 1: Terminals 1 and 2 Speed, torque, or
Pn50F.2 − 1
2 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)
6-4

Range Modes
Brake Reference - Speed, torque, or
Pn506 10 ms 0 to 50 0
Servo 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 operation). 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.
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 ON
Power OFF on
/S-ON input Servo OFF
or alarm
DB stop or
free-run stop
Motor speed (Pn001.0) 6
Pn507
Brake
released. Brake held.
/BK output
Pn508
Setting Precautions
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.
6-5
6.2 Overtravel
6.2.1 Overtravel Input Signal Connections
6.2 Overtravel
Overtravel forces the machine to stop when any moving part of the machine exceeds the range
of movement. With the MP3000, 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 cor-
rectly for overtravel. The required parameter settings and how to connect to a Σ-V or Σ-7 Servo
Drive are described below.
6.2.1 Overtravel Input Signal Connections

Connect the input signals for the overtravel limit switches correctly as shown below to the cor-
responding pins on the SERVOPACK’s CN1 connector.
Servomotor Negative side Positive side
Negative Positive
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.)
6-6
6.2 Overtravel
6.2.2 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
1 (recom-
P-OT Signal Prohibited signal (P-OT). (Positive rotation prohib-
Pn50A.3 mended) 1
Mapping ited when open or allowed at 0 V.)
8 This setting disables the P-OT signal.
This setting enables the use of the Reverse Run
2 (recom-
N-OT Signal Prohibited signal (N-OT). (Negative rotation pro-
Pn50B.0 mended) 2
Mapping hibited 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
0 (recom- same stop method that is used when the Ser-
mended) vomotor is turned OFF (based on the setting of
Pn001.0).
This setting decelerates the Servomotor to a
stop by applying the specified torque when
Overtravel Stop 1 overtravel is detected, and then sets it to Zero
Pn001.1 0
Mode Clamp (Servo Lock) Mode. (Specified torque:
Pn406 (Emergency Stop Torque))
This setting decelerates the Servomotor to a
stop by applying the specified torque when
2 overtravel is detected, and then sets it to free-

run mode. (Specified torque: Pn406 (Emer-
gency Stop Torque))
This setting stops the Servomotor by applying
0 (recom-
the dynamic brake (DB). The DB is held after
mended)
stopping.
Stops the Servomotor by applying the dynamic
Servomotor Power 1 brake (DB), and then releases the DB and puts
Pn001.0 0
OFF Stop Mode the Servomotor into Free-run Mode.
This setting makes the Servomotor free-run to a
stop.
2
The Servomotor is turned OFF. The machine 6
stops due to friction.
6-7
6.2 Overtravel
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
6-8
6.3 Software Limits
6.3.1 Software Limit Parameter Selection
6.3 Software Limits

Software limits are used to set upper and lower limits for the range of machine movement in
fixed or setting parameters so that the MP3000 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 origin 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 MP3000 for position management in
the machine coordinate system. Refer to the manual for your SERVOPACK for setting details.
Motor
Reverse Forward
overtravel overtravel
Negative software limit Machine movement Positive software limit

(lower limit) range (upper limit)
6.3.1 Software Limit Parameter Selection

Software limits can be set in either of the following sets of motion 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 processed.
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.

Fixed Parameters Software Limit Parameter Selection
(Bit C in fixed parameter No. 1)
No.12 Positive Software Limit
=0
No.14 Negative Software Limit
Valid software limits

Setting Parameters
OL66 Positive Software Limit

=1
OL68 Negative Software Limit
6
1. Only one set of software limit values can be valid at any given time (either those set in the rele-
vant fixed parameters or those in the relevant setting parameters). Both sets cannot be used
together at the same time.
Important 2. If bit C (Software Limit Parameter Selection) in fixed parameter No. 1 is set to 1 (Setting
parameter), 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 sec-
tion for details.
6.3.5 Processing after an Alarm Occurs on page 6-11
6-9
6.3 Software Limits

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
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 0: Fixed parame-
No.1 Bit C −
tion 1: Setting parameters ters
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
Register Address Name Setting Range Setting Unit Default
Reference
OL66 Positive Software Limit -231 to 231–1 units 231–1
Reference
OL68 Negative Software Limit -231 to 231–1 units -231
Register Address Name Setting Range Default
0: Zero point return/
Zero Point Return/Setting Com- setting not completed
IW0C Bit 5 −
pleted 1: Zero point return/
setting completed
The software limits are enabled only after the origin return or origin setting operation has been
completed. Perform an origin return or set the origin again in the following cases:
• When the power supply is turned ON
Important • When a fixed parameter is changed and saved
6.3.3 Comparison with the MP2000-series SVC-01 Module

Software limits are different for the MP3000-series SVC 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.
6-10
6.3 Software Limits
6.3.4 The Effects of Software Limits
6.3.4 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 MP3000 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
FEED
and stops at the software limit position.
STEP
EX_FEED
INTERPOLATE Distribution stops at the software limit position.
LATCH The Servomotor performs an emergency stop.
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 positioning 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.
6.3.5 Processing after an Alarm Occurs

This section describes the processing that occurs after an alarm.
Monitoring Alarms
If a position command that moves to or exceeds the positive and negative software limit is
received, the axis will be moved to the software limit position, and a Positive/Negative Software
Limit alarm will occur. 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 a Software Limit Alarm
Use the following procedure to clear a software limit alarm.
1. Set bit F (Clear Alarm) in the OW00 setting parameter to 1 (Clear Alarm ON).
This clears the alarm in IL04.
Register Address Name Description
OW00 Run Command Settings Bit F Clear Alarm
6
2. Use a FEED or STEP command to move in the opposite direction from the direction that
was used when the alarm occurred.
A travel command in the opposite direction from
when the alarm occurred is accepted.
Motor
An alarm will occur again for any travel

command in the same direction.
Negative software limit Positive software limit

(lower limit) (upper limit)
6-11
6.4 Modal Latching
6.4.1 Latch Request
6.4 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.
6.4.1 Latch Request

A latch request is sent when bit 4 (Latch Detection Request) in the OW00 setting param-
eter 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)
6.4.2 Canceling a Latch Request

Set bit 4 (Latch Detection Request) in the OW00 setting parameter to 0 (OFF) to cancel
the latch request.
6.4.3 Latch Signals

Phase-C pulse, /EXT1, /EXT2, and /EXT3 signals can be used for latches. Select the latch sig-
nal to use via bits 0 to 3 (Latch Detection Signal Selection) in OW04.

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
6-12
6.4 Modal Latching

Parameter Type Register Address Name Description
received
IW00 Bit 4 Latch Mode
1: Latch detection request
Monitor Parame- received
ters 0: Latch not completed
IW0C Bit 2 Latch Completed
1: Latch completed
Machine Coordinate Sys-
IL18 1 = 1 reference unit
tem Latch Position
6-13
6.5 Waiting for Slave Detection with the SVC Function Module
6.5.1 Overview
6.5.1 Overview
Waiting for slave detection is used to repeatedly search for MECHATROLINK-III slave stations
for a user-specified time when the power supply to the MP3000 is turned ON. Even if MECHA-
TROLINK-III communications for slave stations start later than communications for the
MP3000, the MP3000 will detect the slave stations so that normal communications can be
established without setting up external interlocks.
MP3000 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
6.5.2 Applicable Versions

The following tables list the firmware and Engineering Tool versions that support waiting for
slave detection.
 MP3000-series Machine Controllers

CPU Unit/CPU Module Model Version
CPU-201 JEPMC-CP3201-E
Version 1.17 or later
JAPMC-CP3301-1-E
CPU-301
JAPMC-CP3301-2-E
JAPMC-CP3302-1-E
CPU-302
JAPMC-CP3302-2-E
All versions
JAPMC-MC3100-1-E
MP3100
JAPMC-MC3100-2-E
 Engineering Tool
Product Model Version
MPE720 Version 7 CPMC-MPE780 Version 7.31 or later
6-14
6.5.3 Operating Procedure
6.5.3 Operating Procedure

Use the following procedure to enable waiting for slave detection.
1. Start the MPE720 on a computer that is connected to the MP3000.
2. Click the Module Configuration Icon on the Start Tab Page.
The Module Configuration Definition Tab Page will be displayed.
3. Double-click the SVC32 cell in the Module Configuration Definition Tab Page.
The MECHATROLINK Detail Definition Dialog Box will be displayed. Other Useful Functions
4. Click the Transmission Parameters Tab.

The Transmission Parameters Tab Page will be displayed.
6-15
6.5.4 Timing to Complete Slave Detection
5. Set the slave detection waiting time.
Item Description Default Setting Range

Slave Detection Wait- Sets the maximum time to continuously perform detec- 0 s to 10 s (in
0s
ing Time tion processing for slave stations. 1-s increments)
6. Save the settings to flash memory.

7. Turn ON the power supplies to the MP3000.
The MP3000 will wait for slave detection for the slave detection wait time.
6.5.4 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 detec-
tion processing is completed.
 When There Are Slave Stations That Cannot Communicate during the Slave Detec-
tion 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.
6-16
6.5.5 Indicators When the Power Is Turned ON
6.5.5 Indicators When the Power Is Turned ON

The indicators change as shown below when the MP3000 is waiting for slave detection.
Hardware Reset Initialization in Progress DWG.A (Startup Drawings) Normal User Program
Execution in Progress Execution in Progress
(The display time depends on the
slave detection waiting time.)
6.5.6 Precautions
When There Are Unconnected Stations

When there are unconnected stations, the time for the MP3000 to complete startup will
increase by the length of the slave detection waiting time. Therefore, the use of this function
may affect Modules other than the SVC Function Module for which waiting for slave detection is
performed.
Example When the MP3000 is connected via Ethernet to a PLC, touch panel, or other host device.
When Waiting for Slave Detection Will Not Be Executed

The MP3000 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 MP3000 will not wait for slave detection even if the
Startup has been completed for the
1 setting of the slave detection waiting time is changed after
MP3000.
the MP3000 has been started.

The MP3000 will not wait for slave detection because there
2 No stations have been assigned links.
are no slave stations to detect.
When the Slave Detection Wait Time Is Initialized

The slave detection wait time is initialized to 0 s in the following cases.
No. Case Description
DIP switch pins SW3 (CNFG) and SW4
The set value will be initialized to 0 s because the MECHA-
1 (INIT) were both turned ON, and the power
supply to the MP3000 was turned ON.
TROLINK definitions will be initialized. 6
6-17
6.6 Slave CPU Synchronization
6.6.1 Overview
6.6.1 Overview
Slave CPU synchronization is used for configurations with master and slave MP3000 Control-
lers that have CPU Units/CPU Modules with a built-in SVC Function Module in order to syn-
chronize the high-speed scan cycles of the master and slave MP3000 Controllers.
When multiple MP3000 Controllers are connected as slaves, the high-speed scans in all of the
MP3000 Controllers connected as slaves will be synchronized. The references sent from the
application program in the master will be transmitted to all of the MP3000 Controllers con-
nected as slaves at the same time. If you mount Option Modules in the slaves MP3000 Control-
lers, 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
MP3000 Controllers 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 applica-
tion program in the master reach the slaves. Therefore, the operation of the SERVOPACKs con-
nected to the master will not be synchronized with the operation of the SERVOPACKs connected
Important to the slaves.
6-18
6.6.2 Applicable Versions and Execution Conditions
6.6.2 Applicable Versions and Execution Conditions
Applicable Versions
To use slave CPU synchronization, the SVC Function Module 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
JAPMC-CP3301-1-E
CPU-301
JAPMC-CP3301-2-E
JAPMC-CP3302-1-E All versions
CPU-302
JAPMC-CP3302-2-E
JAPMC-MC3100-1-E
MP3100
JAPMC-MC3100-2-E
 Slave
CPU Unit/
Model Versions
CPU Module
JAPMC-CP3301-1-E
CPU-301
JAPMC-CP3301-2-E
CPU-302
JAPMC-CP3302-2-E
JAPMC-MC3100-1-E
MP3100
JAPMC-MC3100-2-E
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 MP3000 Controllers will operate without synchro-
nizing the high-speed scan cycles between the master and slave.
 Master
• The CPU Unit/CPU Module must be the applicable versions listed above.
• The high-speed scan setting must be an integer multiple of or an integer fraction of 1 of the
6-19
 Slave
• The CPU Unit/CPU Module must be the applicable versions listed above.
• For CPU-201, the CPU Unit/CPU Module hardware must support slave CPU synchroniza-
tion.*
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 must be set to OFF.
* You can check the hardware subversion in the SW00639 system register.
SW00639 ≥ 2
 Setting Example
Master
MECHATROLINK Transmission 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 transmission cycle set-
ting.
*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 transmission cycle set-
ting.

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 Function Module settings from a slave to a master, save the settings to
Important flash memory, and then turn the power supply OFF and ON again.
Master Settings
6-20
The MECHATROLINK Communications Definition Dialog Box is displayed.

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 6
 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
SCAN High
6-21
Slave Settings

3. Select Slave from the Master/Slave Box.
4. Set the local station address in the My station address Box.
6-22
5. Select Enable from the Slave synchronous function Box.

Note: You cannot enable this function on a sub CPU.

7. Make the following settings.

          

 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.) 6
 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)
6-23
6.6.4 I/O Registers
6.6.4 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.
Important
Master I/O Register Configuration

Information Refer to the following section for details on register areas.
11.3 MECHATROLINK-III I/O Module Settings on page 11-13
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
High High
High High
High High
High High
High High
 
 
 
6-24
6.6.5 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 an SVC Function Module Is Set as a Slave (page 7-16)

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

High High
High High
High High
High High
High High
High High
 
 
 
6.6.5 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 6-26)
Confirmation of Completion of Slave

CPU Synchronization Preparations
Power ON to Master
SLVSC Control
Bit Turned OFF
6
Confirmation That the Slave Confirmation That the Slave Confirmation That the
CPU Is Synchronized CPU Is Synchronized Slave CPU Is Synchro-
nized (page 6-26)
6-25
6.6.6 Procedure to Turn ON Power
6.6.6 Procedure to Turn ON Power

Use the following procedure to turn the power supply to the MP3000 OFF and ON again.
1. Turn ON the power supply to the slave MP3000.
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 MP3000.
5. Confirm that the servo axes that are connected to the SVC Function Module 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.

If the execution conditions are met, synchronization of the high-speed scan cycles will start
automatically.
6.6.7 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.
11.3.7 Command Status on page 11-33
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
6-26
6.6.8 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.
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

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
Important word in the input registers (IW + 2) that is input before SNYC changes to 1 (slave CPU
synchronized) will not be reliable, so do not use it.
6.6.8 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.
MP3000 Series MP3200/MP3300 Troubleshooting Manual (Manual No.: SIEP C880725 01)
6-27
6.6.9 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 fol-
lowing section for specific errors.
For the slave MP3000 to detect an error, the input from the master MP3000 must be completed
normally at least once. For example, if the power supply to the slave MP3000 is turned ON when
it is not connected to the master, the bit for the local station in the I/O Error Status will remain at
Important 0 (no error).
Recovering from Input Errors

Even if an input error occurs, processing in the MP3000 will automatically switch to normal
reception, so no specific operation is required for recovery. However, if input errors occur fre-
quently, 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)?
6.6.9 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 synchro-
nized status. The setting to restart slave CPU synchronization is also described. Refer to the
following section for countermeasures of the system’s effect on the application.
6.6.11 Precautions on page 6-30
Overview
The slave CPU synchronization function synchronizes the slave cycle with the master cycle.
When the status is changing from asynchronous status to slave CPU synchronized status, the
processing that is performed 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- • An axis being control by the SVB-01 or SVC-01 may suddenly
speed scan cycle stop.
• The counter values for LIO-01, LIO-02, LIO-06, and CNTR-01
may be disturbed.
• Position information may be lost.
Resetting MECHATROLINK communica- • Zero point return information may be lost.
tions
(SVC, SVC32, SVC-01, and SVB-01) • The software limits may be disabled.
• Controlled axes may stop suddenly.
6-28
6.6.10 Operation of Slave MP3000
Setting the Restarting Method for Slave CPU Synchroniza-

tion
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 chang-
ing 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

Not used. SLVSC

Not used.
Name Definition Description

If slave CPU synchronization is lost, operation continues
1 Restarting prohibited.
asynchronously.
SLVSC
If slave CPU synchronization is lost, it is automatically
0 Restarting allowed.
restarted.
6.6.10 Operation of Slave MP3000

The following table gives the slave MP3000 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. 6
(For example, the transmission cycle is disrupted by High-speed scan processing may be disrupted.
a MECHATROLINK communications error.)
The high-speed scan setting is changed at the mas- Asynchronous operation will be used.
ter or 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
MP3000 self configuration is performed for the mas- synchronization will be restarted after MECHA-
ter or slave. TROLINK communications are restarted.
The master or slave is switched between CPU RUN Operation with slave CPU synchronization will con-
and CPU STOP. tinue.
6-29
6.6.11 Precautions
6.6.11 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 Function Module 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 synchro-
nization, 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 con-
nected, 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 MP3000 is lower than ver-
sion 1.06, the MP3000 Controllers will operate asynchronously.
6-30
6.7 Multiturn Limit Setting Disagreement Detection

Multiturn limit setting disagreement detection is used to compare the setting of fixed parameter
No. 38 (Maximum Number of Absolute Encoder Rotations) with the Multiturn Limit Setting. If
there is a disagreement between the set values, a warning will be reported.
Conceptual diagrams of this function are given below.
MP3000
Fixed Parameters Common Parameters*

SERVOPACK
No. 38: Maximum MECHATROLINK-III

24:
Number of Absolute Compared. Multiturn Limit
Encoder Rotations
Monitor Parameters
Disagreement
IL02 bit 2:
Fixed Parameter detected.
Setting Error
Motor
* The common parameters are set in the slave SERVOPACK from the MP3000 through MECHATROLINK-III com-
munications.

The following tables list the firmware and Engineering Tool versions that support multiturn limit
setting disagreement detection.

 MP3000-series Machine Controllers
CPU Unit/CPU Module Model Version
JAPMC-CP3301-1-E
CPU-301
JAPMC-CP3301-2-E
JAPMC-CP3302-1-E
CPU-302
JAPMC-MC3100-1-E
6
MP3100
JAPMC-MC3100-2-E
 Engineering Tool
Product Model Version
MPE720 Ver.7 CPMC-MPE780 Version 7.26 or later
6-31

You do not need to set any parameters for an infinite-length axis. The settings of fixed parame-
ter No. 38 and the Pn205 SERVOPACK parameter are constantly compared.
For a finite-length axis, set the following 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 limit setting disagreement during finite-length operation.
Detection Mask 0: Do not detect, 1: Detect
6.7.3 Multiturn Limit Setting Disagreement Detection Timing

A check will be made for a multiturn limit setting disagreement when the operations in the fol-
lowing table are performed.
Operation Condition
Starting from flash memory
Writing fixed parameters
Saving MECHATROLINK definitions None
Transferring module configuration definitions
Turning ON OW00 bit C (Reset Network)
Turning ON OW00 bit E (Reset Communications) IL02 bit 2 (Fixed Parameter Setting Error) is 0.
A communications error has occurred and
Turning ON OW00 bit F (Clear Alarm)
IL02 bit 2 (Fixed Parameter Setting Error) is 0.
6.7.4 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: Outside setting range
Out-of-range Parameter Num- 1038 (fixed parameter No. 38 (Maximum Number of
IW01
ber Absolute Encoder Rotations))
IW00 Bit 0 Motion Operation Ready 0: Motion operation not ready

Change the setting of either fixed parameter No. 38 (Maximum Number of Absolute Encoder
Rotations) or the Multiturn Limit Setting, and clear the warning in IL02 bit 02 (Fixed
Parameter Setting Error).
Changing the Setting 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 same
value as common parameter 24.
2. Write the fixed parameters.

6-32
Changing the Setting of Common Parameter 24 (Multiturn

Limit)
The warning will be cleared when the control power supply to the MP3000 is turned OFF and
ON again.
1. Use the Digital Operator to set common parameter 24 to the value of fixed parameter
No. 38.
2. Turn the power supply to the slave SERVOPACK OFF and ON again.
A multiturn limit disagreement alarm (A.CC0) will occur in the slave SERVOPACK.
3. Execute Fn013 (Multiturn Limit Setting) from the Digital Operator.

4. Turn the power supply to the slave SERVOPACK OFF and ON again.
The A.CC0 alarm in the slave SERVOPACK will be cleared.
5. Turn the control power supply to the slave SERVOPACK OFF and ON again.
6-33
6.8 Precautions When Using Σ-7-series SERVOPACKs
6.8.1 MP3000 Versions That Support the Σ-7-series SERVOPACKs

ΝΤΛΠΣ-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 and MP3000, 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 combi-
nations of the above SERVOPACKs with the MP3000.
For details on the SGD7S-20 and SGD7W-20, refer to the following manu-
als.
Σ-7-series AC Servo Drive Σ-7S SERVOPACK with MECHATROLINK-III Communications References
Important Product Manual (manual number: SIEP S800001 28)
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.
MP3000 Command 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 fol-
lowing table.
Pn20E Pn210
Electronic Gear Ratio (Numerator) Electronic Gear Ratio (Denominator)
16 1
6.8.1 MP3000 Versions That Support the Σ-7-series SERVO-

PACKs
The models and versions of the MP3000 that support Σ-7-series SERVOPACKs are given in the
following table.
CPU Unit/CPU Module Model Number Version

JAPMC-CP3301-1-E Version 1.10 or later
CPU-301
JAPMC-CP3301-2-E
JAPMC-CP3302-1-E
CPU-302
JAPMC-MC3100-1-E
MP3100
JAPMC-MC3100-2-E
6-34
6.8.2 Σ-7-series SERVOPACK Electronic Gear Ratio and MP3000 Settings
6.8.2 Σ-7-series SERVOPACK Electronic Gear Ratio and

MP3000 Settings
We recommend that you set the electronic gear ratio in the SERVOPACK to 1:1 when you use
the MP3000. However, if you use a Σ-7-series SERVOPACK that supports an encoder with 24-
bit resolution, 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
MP3000 Σ-7
MECHATROLINK-III
Motor

Pn20E = 16
16:1 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
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 reference
pulses will be output. units.
MP3000 Σ-7
MECHATROLINK-III
Motor

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
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 reference
pulses will be output. units.
6
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 electric 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 the MP3000 with a version that
supports the Σ-7-series SERVOPACKs.
6-35
6.8.3 Link Assignments
6.8.3 Link Assignments

You can manually assign links as shown below according to the model of the ?-7-series SER-
VOPACK.
Model Link Assignment
Σ-7S SGD7S-****20*
Σ-7W SGD7W-****20*
An example of the on-screen settings is shown below.
6.8.4 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
6.8.5 Self Configuration

When 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 in the SERVOPACK and fixed parameter No. 36 (Number of
Pulses Per Motor Rotation) are automatically set according to the version of the MP3000 as
given below.
Fixed Parameter 36:
MP3000 Version Electronic Gear Ratio Number of Pulses Per Motor
Rotation
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
6-36
6.8.6 Operating Specifications When Using an MP3000 Controller That Supports the Σ-7-series SERVOPACKs
6.8.6 Operating Specifications When Using an MP3000 Con-

troller That Supports the Σ-7-series SERVOPACKs
The operating specifications for combining the MP3000 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 MP3000 reference units
 Operation
MP3000 coordinate
Target position in
positive direction
2,147,483,647 2,147,483,647
MP3000 reference units
Current
position
0
-2,147,483,648
MP3000 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
Important Amount) will turn ON.
2. Restrictions in Deceleration Time during Positioning

The maximum setting of the deceleration time for positioning motion commands (POSING, EX_POS-
ING, 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
6
Operation will not be performed with the specified speed or deceleration time if a value that
exceeds the maximum value is set.
Important
6-37
6.8.6 Operating Specifications When Using an MP3000 Controller That Supports the Σ-7-series SERVOPACKs
 Operation
Speed Distance required to decelerate to a stop
(servo reference units)
Reference speed
[min-1]
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 Exter-
nal 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
(Reference 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 Term)
2,147,483,64 2,147,483,647 ×
OL42 and
7 No. 36 (Number of Pulses per Motor Rotation) × No. 8 (Servo Motor Gear Ratio Term)
OL46
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.
Important
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.
6-38
6.8.7 Operating Specifications When Using an MP3000 Controller That Does Not Support the Σ-7-series SERVOPACKs
6.8.7 Operating Specifications When Using an MP3000 Con-

troller That Does Not Support the Σ-7-series SERVO-
PACKs
You can connect an MP3000 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 parameter 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 (MP3000
reference units is converted to server 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 (POS-
ING, 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 Distance), which is used for ZRET (Zero Point Return), and OL46 (External
Positioning Final Travel Distance), which is used for EX_POSING (Latch Target Position-
ing) 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
6-39
Making Settings
for Motion Control
with the MPE720
7
This chapter describes how to confirm information and
make settings for the Motion Control Function Module.
7.1 Module Configuration Settings . . . . . . . . . . 7-2

7.1.1 Settings for Motion Control Function Modules . . 7-2
7.1.2 Deleting Unused Motion Control Function
Modules . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-5
7.2 MECHATROLINK Communications Settings . .7-7

7.2.1 Displaying the MECHATROLINK Detail
Definition Dialog Box . . . . . . . . . . . . . . . . . . . . . 7-7
7.2.2 MECHATROLINK Detail Definition Dialog
Box Details . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-8
7.3 Setting Motion Parameters . . . . . . . . . . . . . . . 7-19

7.3.1 Displaying and Setting Motion Parameters . . . . 7-19
7.3.2 Precautions after Making Settings . . . . . . . . . . 7-22
7.4 SERVOPACK Parameter Data Flow . . . . . . 7-23

7.4.1 When the Power Supply Is Turned ON . . . . ... 7-23
7.4.2 Normal Operation . . . . . . . . . . . . . . . . . . . . ... 7-24
7.4.3 When the SERVOPACK Tab Page Is Opened .. 7-24
7.4.4 When SERVOPACK Parameters Are Saved . ... 7-25
7.4.5 When Saving Data to Flash Memory . . . . . . ... 7-25
7.1 Module Configuration Settings
7.1.1 Settings for Motion Control Function Modules

You must confirm information and make settings for the Motion Control Function Module before
you perform motion control.
This section describes how to use the MPE720 Version 7 Engineering Tool to confirm informa-
tion and make settings for the Motion Control Function Module.

You can confirm information for your Motion Control Function Module on the Module Configu-
ration Definition Tab Page of the MPE720.
This section describes how to display the Module Configuration Definition Tab Page and
describes its contents.
Displaying the Module Configuration Definition Tab Page

Use the following procedure to display the Module Configuration Definition Tab Page.
1. Connect the MP3000 to the computer, and start the MPE720.
Refer to the following manual for details on how to start the MPE720.
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
This concludes the procedure for displaying the Module Configuration Definition Tab Page.
7-2
Module Configuration Definition Tab Page Details

The following table describes the items that are displayed in the Module Configuration Defini-
tion 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 slaves that are used by the Mod- Possible
slave
ule.
Refer to the following
In Online Mode, displays the status
section.
of the Function Modules and the
 Status  Status Display Not possible
communications status of MECHA-
Contents on page
TROLINK slave devices.
7-4
Displays the first circuit number
Start that is assigned to the Function Circuit No. 1 to 16 Possible
Circuit No./ Module.
 Axis
Address Occu- Displays the number of circuits that
pied cir- are assigned to the Function Mod- 1 or 2 Possible
cuits ule.
Displays the first and last register The parameter is auto-
 Motion Register addresses of the motion parame- matically set based on the Not possible
ters. circuit numbers.
Used to disable inputs or outputs
 Disabled Selected or not selected Possible
by selecting the check boxes.
Displays the range of registers that
is used as an I/O area by the Func-
tion Module. For the SVC or Start: 0000 to 7FFF hex 7
Start -
 SVC32, the first and last registers End: 10000 to 17FFFF Possible
Register End
of the I/O Modules that are con- hex, 800 hex words max.*
(Input/Out- nected to MECHATROLINK are
put) displayed.
Displays the number of words in
 Size 1 to 1024 Possible
the I/O area.
Displays the scan in which the I/O
 Scan service is performed for the I/O High/Low Possible
device.
7-3

No. Item Display/Setting Item Setting Range/Settings Changing
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.
Important 3. I/O first and last register defaults will be automatically set, even if an I/O Module is not con-
nected to the MECHATROLINK network. It is not necessary to change these settings from
their defaults.
 Status Display Contents

The items displayed in the Status Column are listed below.
 Status of the CPU, Communications Function Modules, Motion Control Function

Modules, and Option Modules
The following will be displayed as the status of the CPU, Communications Function Modules,
Motion Control Function Modules, and Option Modules.
Display Description
----- Undefined.
Empty Defined but not connected.
Driving Operating normally.
Failure Error detected.
The connected Module has a different name from the Module defined on the
×
Module Configuration Definition Tab Page.
Initializing The Module is connected but the Module configuration is not defined.
Driving Stop The CPU is stopped (The user programs are stopped).
The same station address is used for more than one connected MECHA-
Duplicate Address
TROLINK-III slave device.
 Transmission Status for the SVC Function Module

The following status is displayed for the SVC Function Module.
Display Description
No Alarm Transmission is normal.
High Speed Scan Trans- A transmission error has occurred. (The high-speed scan is set for the I/O scan
mission Error for the station.)
Low Speed Scan Trans- A transmission error has occurred. (The low-speed scan is set for the I/O scan for
mission Error the station.)
Duplicate Address The same station address is set for more than one slave device.
7-4
7.1.2 Deleting Unused Motion Control Function Modules
 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 or Stepping Motor Drive,
03 hex: I/O)
Reserved
Duplicate Address
High-speed scan transmission error
Low-speed scan transmission error
Reserved
Normal transmission

You can delete (disable) unused Motion Control Function Modules to reduce the processing
time of the MP3000.
Use the following procedure to delete unused Function Modules from the Motion Control Func-
tion Modules that are built into the MP3000.
1. Right-click the cell of the Function Module to delete and select Device Select from the
pop-up menu.
The Function Module Dialog Box is displayed. Making Settings for Motion Control with the MPE720
7-5
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.
7-6
7.2 MECHATROLINK Communications Settings
7.2.1 Displaying the MECHATROLINK Detail Definition Dialog Box

To perform motion control using the SVC Function Module, you must first make settings for
MECHATROLINK communications.
Use the MECHATROLINK Detail Definition Dialog Box to make settings for MECHATROLINK
communications.
The section describes how to open the MECHATROLINK Detail Definition Dialog Box, its con-
tents, and how to use it to make settings.
7.2.1 Displaying the MECHATROLINK Detail Definition Dialog

Box
Use the following procedure to display the MECHATROLINK Detail Definition Dialog Box.
1. Open the Module Configuration Definition Tab Page.
2. Double-click the SVC32 cell on the Module Configuration Definition Tab Page.

Information If more than one Module is mounted, select the Module to be checked or set.
This concludes the procedure to display the MECHATROLINK Detail Definition Dialog Box.
7-7
7.2.2 MECHATROLINK Detail Definition Dialog Box Details

The MECHATROLINK Detail Definition Dialog Box has four tab pages: Transmission Parame-
ters, Link Assignment, I/O Map, and Status. Click the tab to view each tab page.
Transmission Parameters Tab Page

The items on the Transmission Parameters Tab Page are described in the following table.









No. Item Description Default

Set whether to use the SVC Function Module as a
 Master/Slave Master
master or a slave station.
 My station address Sets the local station address. 01 hex
 Communication Cycle Sets the transmission cycle. 250 μs
Enabled message com-
 Enables or disables message communications. Enable
munication
Sets the maximum number of retries to execute within
 Number of retry to slaves 1
one transmission cycle.
 Number of connection Sets the number of connected slave stations. 8
Slave synchronous func-
 Enables or disables slave CPU synchronization. Disabled
tion
Slave Detection Waiting Sets the maximum time to continuously perform
 0s
Time detection processing for slave stations.
Displays precautions on the high-speed scan cycle
 Message Box −
setting.
Refer to the following section for details on each item.
 Item Details on page 7-8
 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 you change them.
Important
7-8
 Master/Slave
Set whether to use the SVC or SVC32 as a master or a slave station.
Refer to the following section for details on device definition information and I/O data when the
SVC or SVC32 is set as a slave station.
Detailed Information When an SVC Function Module Is Set as a Slave on page 7-16
 Communication Cycle
Set the transmission cycle.
Selection: 125 μs EX*, 125 μs, 250 μs, 500 μs, 1 ms, 1.5 ms, 2 ms, or 3 ms
* Use 125 μs EX when operating with the transmission cycle set to 125 μs and the high-speed scan cycle set to
125 μs.
125 μs EX can be set with combinations of the following products.
Machine Controller SERVOPACK

JEPMC-CP3202-E
JAPMC-MC3100-1-E
SGDV-21EX001
JAPMC-MC3100-2-E
SGD7S-20A
JAPMC-CP3302-1-E
JAPMC-CP3302-2-E
 Enabled message communication

Enable or disable message communications.
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.
 Number of retry to slaves

Set the maximum number of retries to execute within one transmission cycle.
Transmission Number of Slave
Setting Range

Cycle Stations
125 μs 1 to 4 0 to (5 - 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)
 Number of Connection
Set the number of connected slave stations.
Transmission
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 7
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 to the MP3000, the SigmaWin+ may not be usable if there are too
many SERVOPACK stations connected. If this occurs, either connect the SigmaWin+ to the
Important
SERVOPACK (CN7) directly, or lengthen the transmission cycle.
7-9
 Slave Detection Waiting Time

Set the maximum time to continuously perform detection processing for MECHATROLINK-III
slave stations when the power supply of the MP3000 is turned ON.
• Selections: 0 s to 10 s (in 1-s increments)
Note: The following firmware and Engineering Tool versions support this function.
• MP3000: Version 1.17 or later
• MPE720 Ver. 7: Version 7.31 or later
 Message Box
This box displays precautions on the high-speed scan cycle setting.
Transmission
Message
Cycle
125 μs EX Set the high-speed scan time as an integer that is a multiple of 125 μs.
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.
Link Assignment Tab Page

The Link Assignment Tab Page displays the assignment settings for all slave devices that were
detected during self-configuration (MECHATROLINK-III-connected devices, such as SERVO-
PACKs or distributed I/O).

      11   11 12 13

 ST # Displays the station number.
 ADR Sets the station address of the slave station.
Sets the individual extended addresses when multi-station modules
 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.
 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 Enter a comment of up to 32 characters if required.
Refer to the following section for details on each item.
 Item Details on page 7-11
7-10
 Item Details
This section provides details on the items that are displayed on the Link Assignment Tab Page.
Always save all settings to the flash memory after you change them.
Important
 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 Transmission 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 hex 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 hex 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.
• Selections: Yaskawa Electric co.,∗∗∗∗Vendor 7
 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 Function
Module is the same as the one that is displayed under DEVICE on the Link Assignment Tab
Page.
7-11
Communications Specifications
DEVICE Number of Trans- Minimum Trans- Maximum Trans-
Supported Profiles
mission Bytes mission Cycle mission Cycle
SGD7S-
20
SGD7W- Standard Servo 48 125 μs 4 ms
20
SGDV-2
1000Series INVERTER Standard Inverter 32, 64 250 μs 8 ms
JAPMC-MC2320-E Standard I/O 16, 32, 48, 64 250 μs 32 ms
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.
• The SERVOPACK parameters can no longer be set if the SERVOPACK is set as “WildCard
Device”.
• If you are using an SGD7S or SGD7W, confirm the setting methods for fixed parameters and
Important the precautions. Refer to the following section for details.
6.8 Precautions When Using Σ-7-series SERVOPACKs on page 6-34
 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.
These settings are disabled if the profile is set to Standard Servo.
• Setting range: The range of the Module’s I/O registers
 OUTPUT
Set the first register address of the output area.
• 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
7-12
 SIZE
Set the input or output size in words.
• Setting range: 0 to 32
 SCAN
Set the scan in which the input or output is performed.
These settings are always set to High if the profile is set to Standard Servo.
• Settings: High or Low
• 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.

Important
I/O Map Tab Page

This tab page displays the assignments to I/O registers.
 Displayed Items
HI: High-speed scan input
HO: High-speed scan output
LI: Low-speed scan input
LO: Low-speed scan output
7
The I/O Map Tab Page is for reference only. Do not change any of the displayed settings.
Important
7-13
Status Tab Page

This tab page displays the MECHATROLINK transmission status. The displayed settings can-
not be changed.
Information The items displayed on the Status Tab Page are the same as those on the Link Assignment
Tab Page except for STS.
 STS
In Online Mode, MECHATROLINK transmission status is displayed in hexadecimal.
Information In Offline Mode, nothing is displayed.
The meaning of each bit is given 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 or Stepping Motor Drive, 03 hex: I/O)
Reserved
Duplicate Address
High-speed scan transmission error
Low-speed scan transmission error
Reserved
Normal transmission
Environment for Using Σ-7-series SERVOPACKs

 Supported Versions
Details on SERVOPACKs: Σ-7-series SERVOPACKs with MECHATROLINK-III Communications
References
SERVOPACK models: SGD7S-20, SGD7W-20
7-14
 Using a Rotary Servomotor

JAPMC-CP3301-1-E Version 1.10 or later
CPU-301
JAPMC-CP3301-2-E
JAPMC-CP3302-1-E
CPU-302
JAPMC-MC3100-1-E
MP3100
JAPMC-MC3100-2-E
MP3000 Model Number Version

 Using a Linear Servomotor

JAPMC-CP3301-1-E
CPU-301
JAPMC-CP3301-2-E
JAPMC-CP3302-1-E
CPU-302
JAPMC-CP3302-2-E
All versions
JAPMC-MC3100-1-E
MP3100
JAPMC-MC3100-2-E
Engineering Tool Model Number Version


 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 set-
tings 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
connected 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).
7
• The SERVOPACK parameters can no longer be set if the SERVOPACK is set as “WildCard
Device”.
• If you are using an SGD7S or SGD7W, confirm the setting methods for fixed parameters and
Important the precautions. Refer to the following section for details.
6.8 Precautions When Using Σ-7-series SERVOPACKs on page 6-34
7-15
Detailed Information When an SVC Function Module Is Set

as a Slave
This section describes the device information and I/O data when an SVC Function Module is
set as a slave.
 Device Definition Information

The following table gives the device definition information when the MP3000 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 transmission Cycle 125 μs
Maximum transmission Cycle 32 ms
Transmission 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,
CONNECT, DISCONNECT, DATA_RWA, and DATA_RWS
Main Device Name SVC or SVC32
7-16
 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.
7-17
 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.
Reserved SLVSC

Reserved
• SLVSC
• 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 asyn-
chronized 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.
6.6 Slave CPU Synchronization on page 6-18
7-18
7.3 Setting Motion Parameters
7.3.1 Displaying and Setting Motion Parameters

The Definition Tab Page of each Motion Control Function Module displays the motion parame-
ters (fixed parameters, setting parameters, and monitor parameters) that are used to control
motion axes, such as SERVOPACKs, Inverters, and Stepping Motor Drives.
This section describes methods for checking and changing motion parameters.
Refer to the following section for details on motion parameters.
3.4 Motion Parameter Details on page 3-27

Use the following procedure to display and set motion parameters.
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
parameters as shown below.
7-19
3. Double-click the motion parameter to set or monitor.

The Display in axis selected Dialog Box will be displayed.
4. Select the axis to set or monitor, and then click the OK Button.
The tab page for the selected motion parameter will be displayed.
5. Check or change the settings 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
7-20
• 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.
• 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 in axis selected Dialog Box.
• Refer to the product manual for your SERVOPACK for details on the SERVOPACK parameters.
7-21
7.3.2 Precautions after Making Settings
7.3.2 Precautions after Making Settings

The fixed values in the MP3000 are written to the slave SERVOPACK EEPROM or RAM during
self-configuration as shown below. The SERVOPACK parameters are also written to the
MP3000 setting parameters.
SERVOPACK parameters and MP3000 parameters may be overwritten when self-configuration is

executed.
Important
Writing from the MP3000 to the Slave SERVOPACK

The following settings are written regardless of the setting of bit A (SERVOPACK Parameter
Auto-Write) in fixed parameter No. 1.
MP3000 Slave SERVOPACK
Name Setting No. Name/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)
* When using a 24-bit encoder, the set value is 16.
Information The above settings are not written for axes that are already defined.
Writing from the Slave SERVOPACK to the MP3000

The following settings are written when bit A (SERVOPACK Parameter Auto-Write) in fixed
parameter No. 1 is set to 0 (Enable).
MP3000 Slave SERVOPACK
Register
Number
Position Loop Gain OW2E ← 63 Position Loop Gain
Speed Loop Gain OW2F ← 61 Speed Loop Gain
Speed Feedforward Compensation OW30 ← 64 Feed Forward Compensation
Position Loop Integral Time Constant OW32 ← 65 Position Loop Integral Time Constant
Speed Loop Integral Time Constant OW34 ← 62 Speed Loop Integral Time Constant
Filter Time Constant OW3A ← 82 Movement Average Time
7-22
7.4 SERVOPACK Parameter Data Flow
7.4.1 When the Power Supply Is Turned ON

When performing motion control, you can read and write SERVOPACK parameters from the
MP3000.
This means that the parameter settings are saved in both the MP3000 and in the slave SERVO-
PACK. Therefore, it is necessary to consider the relationship between the settings in both
places.
This section describes the flow of data for the SERVOPACK parameters under different condi-
tions.
The following descriptions of procedures and conceptual diagrams are for the SVC Function
Module.
7.4.1 When the Power Supply Is Turned ON

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 MP3000 copies the parameter data for all axes from flash memory*1 to SDRAM*2.
3. Some gain settings are written from the MP3000 to the SERVOPACK RAM*1.
MECHATROLINK
Transferred. Transferred.

MPE720
System Control
SRAM software
software
Settings
*3 *3
Flash EEP
Hard disk drive of the PC SDRAM RAM
memory -ROM
SERVOPACK parameters Parameters

for all axes
MP3000 SERVOPACK SERVOPACK
*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.
7-23
7.4.2 Normal Operation
7.4.2 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 MP3000 temporarily change SERVO-
PACK parameters. When this processing is executed, it also changes the contents of
the RAM in the SERVOPACK.
Chapter 3 Parameters for Motion Control
MECHATROLINK
Transferred. Temporarily Transferred.
changed.
MPE720
System Control
SRAM
software software
Settings
*
Flash EEP
SDRAM RAM
memory -ROM
Hard disk drive of the PC
parameters
for all axes
* 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.
7.4.3 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.
7.3.1 Displaying and Setting Motion Parameters on page 7-19
The MPE720 loads the parameter values in the SERVOPACK’s RAM and displays them on the
SERVOPACK Tab Page.
MECHATROLINK
MPE720 (Online)
System Control
SRAM
software software
Flash EEP
SDRAM RAM
memory -ROM
parameters
for all axes
7-24
7.4.4 When SERVOPACK Parameters Are Saved
7.4.4 When SERVOPACK Parameters Are Saved

The flow of data for the SERVOPACK parameters when parameters are saved on the SERVO-
PACK Tab Page is shown below.
Refer to the following section for the procedure to display the SERVOPACK Tab Page.
7.3.1 Displaying and Setting Motion Parameters on page 7-19
The MPE720 writes all of the parameters that are displayed on the SERVOPACK Tab Page for
the relevant axes to the following locations.
• Hard disk drive of the PC
• SDRAM in the MP3000
• RAM and EEPROM in the SERVOPACK
MECHATROLINK
MPE720 (Online)
System Control
SRAM
software software
* * *
Flash EEP
SDRAM RAM
memory -ROM
parameters
for all axes

7.4.5 When Saving Data to Flash Memory
When data is saved to flash memory, the MP3000 writes the settings of the parameters that are
stored in SDRAM to flash memory.
MECHATROLINK
MPE720 (Online)
System Control
SRAM
software software
*
Flash EEP
SDRAM RAM
memory -ROM
SERVOPACK parameters Parameters
for all axes
Note: Always save all of the SERVOPACK parameter settings to the flash memory after any changes are made.
7
7-25
Sample
Programming
8
This chapter provides sample programming for a machine
model with a simple structure to enable the user to better
understand programming of motion control.
8.1 One Axis Positioning . . . . . . . . . . . . . . . . . . 8-2

8.1.1 Machine Configuration . . . . . . . . . . . . . . . . . . . . 8-2
8.1.2 Related Parameters . . . . . . . . . . . . . . . . . . . . . . 8-2
8.1.3 Sample Programming . . . . . . . . . . . . . . . . . . . . . 8-3
8.2 Interpolation of Two Axes . . . . . . . . . . . . . . 8-6

8.2.3 Sample Programming . . . . . . . . . . . . . . . . . . . . . 8-8
8.3 Torque Control . . . . . . . . . . . . . . . . . . . . . . . 8-9

8.3.3 Sample Programming . . . . . . . . . . . . . . . . . . . . 8-10
8.4 Phase Control . . . . . . . . . . . . . . . . . . . . . . 8-11

8.4.1 Machine Configuration . . . . . . . . . . . . . . . . . . . 8-11
8.4.3 Sample Programming . . . . . . . . . . . . . . . . . . . . 8-13
8.1 One Axis Positioning
8.1.1 Machine Configuration

This section provides an example of positioning for a machine with a table mounted on a ball
screw that is directly coupled to a motor.
This section describes the basic programming necessary to move the machine. The example in
this section does not include interlocks or other elements that must be included for an actual sys-
Important
tem.

The following figure shows the machine configuration used in this example, which moves a
table horizontally with a ball screw that is directly driven by the Servomotor. The ball screw lead
(i.e., the travel distance for one rotation) is 6 mm.
Servomotor
Table
Coupling
Ball screw

The parameters that are related to the sample programming are listed in the following table.
Fixed Parameters
No. Setting Description
0 0 Normal operation mode
1 0000 hex Finite length, software limits disabled, overtravel detection disabled, etc.
2 0000 hex Masking disabled.
4 1 Selected reference unit: mm
5 3 Number of digits below decimal point: 3 (i.e., 1 reference unit = 0.001 mm)
6 6000 Travel distance per machine rotation: 6,000 reference units = 6 mm
Servomotor gear ratio term: 1 (This is because the ball screw is directly driven by the
8 1
motor.)
Machine gear ratio term: 1 (This is because the ball screw is directly driven by the
9 1
motor.)
29 0 Rotary motor
30 1 Absolute encoder
34 3000 Rated motor speed: 3,000 min-1
36 1048576 Number of pulses per motor rotation: 1,048,576 P/R
Note: The default settings are used for the shaded parameters.
8-2
8.1.3 Sample Programming
Setting Parameters
The SVC Function Module, circuit number 1, and axis number 1 are used. The motion register
addresses of the setting parameters are OW08000 to OW0807F.
Information OB or OL may be used in some register addresses in place of OW, depending on the data
size.
Monitor Parameters
addresses of the monitor parameters are IW08000 to IW0807F.
Information IB or IL may be used in some register addresses in place of IW, depending on the data size.

Sample programming that can be used to position one axis is described below.
Positioning One Axis with a Ladder Program

An example of a ladder program that uses motion commands (positioning command code = 1)
to position an axis is shown in the following figure.
Line 0: The position reference type is set to the incremental value addition method.
Sample Programming
Line 1: While input 1 (IB010001) is ON, the positioning operation is paused. When input 1
turns ON, the axis decelerates to a stop. When input 1 turns OFF, the axis moves the
remaining distance required to complete the positioning operation.
Line 2: When input 0 (IB010000) turns ON, the axis decelerates to a stop and the positioning
operation is interrupted.
Line 3: It is confirmed that target axis is not executing other commands.
8-3
Line 4: When input 2 (IB010002) turns ON, positioning is executed. Input 2 (IB010002) is left
ON during positioning. The acceleration/deceleration time, speed, and motion com-
mand travel distance are set in setting parameters with the EXPRESSION instruction.
Line 5: When input 2 (IB010002) turns OFF, the motion command is set to NOP, and the posi-
tioning operation stops.
Positioning One Axis with a Motion Program

Motion programs are used to program the movements of axes, but to execute a motion pro-
gram, it must be called with a ladder program. Motion programs are used in sets with ladder
programs.
 Motion Program
An example of motion programming in which the target axis has been designated as Axis X is
shown in the following figure.
This motion program has been registered as MPM001.
8-4
 Calling Motion Programs with Ladder Programs

In the following figure, one axis is positioned by calling a motion program with a ladder pro-
gram.
Line 0: The position reference type is set to the incremental value addition method.
Line 3: It is confirmed that the target axis is not executing other motion commands.
Line 4: When input 2 (IB010002) turns ON, the motion program start request (DB0000110) will
turn ON, and execution of the MPM001 motion program will start. The execution of the
motion program is continued while input 2 is ON.
The operation start request signal is bit 0 of the second word in the work registers that
are used by the MSEE instruction.
Refer to the following manual for details on the work registers.
Machine Controller MP3000 Series Motion Programming Manual (Manual No.: SIEP C880725 14)
Sample Programming
Line 5: The MPM001 motion program is called.

Lines 6 and 7: When input 2 (IB010002) turns OFF, the motion program stop request 8
(DB0000112) will turn ON, and execution of the MPM001 motion program will
stop. The axis decelerates to a stop.
The operation stop request signal is bit 2 of the second word in the work regis-
ters that are used with the MSEE instruction.
Refer to the following manual for details on the work registers.
Machine Controller MP3000 Series Motion Programming Manual (Manual No.: SIEP C880725
14)
8-5
8.2 Interpolation of Two Axes

This section gives examples of linear interpolation and circular interpolation for a machine with
two orthogonal axes that are mounted on ball screws directly driven by Servomotors. The
machine is programmed with a motion program. Control with a ladder program that uses
motion commands is also possible, but it requires complex programming. An example of a
motion program is provided in this manual.
Important
tem.

The machine configuration that is used in this example consists of an X-Y plotter that has two
orthogonal axes as shown below.
The ball screw lead (i.e., the travel distance for one rotation) is 6 mm for each axis.
Servomotor
X-Y plotter
8-6

Fixed Parameters
The following table gives the fixed parameter settings for both the axis X and axis Y in this
example.
8 1
motor.)
9 1
motor.)
29 0 Rotary motor
Setting Parameters
The SVC Function Module, circuit number 1, axis number 1 for axis X, and axis number 2 for
axis Y are used. The motion register addresses of the setting parameters for axis X are
OW08000 to OW0807F. The motion register addresses of the setting parameters for axis Y are
OW08080 to OW080FF.
size.
Monitor Parameters
The SVC Function Module, circuit number 1, axis number 1 for axis X, and axis number 2 for
axis Y are used. The motion register addresses of the monitor parameters for axis X are
IW08000 to IW0807F. The motion register addresses of the monitor parameters for axis Y are Sample Programming
IW08080 to IW080FF.
8-7

This section provides sample programming in which linear interpolation and circular interpola-
tion are programmed with a motion program.
Motion Program
Linear interpolation and circular interpolation are programmed in one motion program. Position
references are incremental values, and the interpolation operations are repeated five times. This
motion program has been registered as MPM001.
Calling Motion Programs with Ladder Programs

In the following ladder program, linear interpolation and circular interpolation are performed for
two axes by calling an interpolation motion program.
8-8
8.3 Torque Control
8.3 Torque Control

This section provides an example of torque control. The torque control is programmed with a
ladder program that uses motion commands.
Important
tem.

The machine configuration is the same as in 8.1 One Axis Positioning.
Refer to the following section for details on the machine configuration.
8.1.1 Machine Configuration on page 8-2

Fixed Parameters
8 1
motor.)
9 1
motor.)
29 0 Rotary motor
Sample Programming
Setting Parameters
addresses of the setting parameters are OW08000 to OW0807F.
size.
8
Monitor Parameters
addresses of the monitor parameters are IW08000 to IW0807F.
8-9
8.3 Torque Control

An example of ladder programming that uses a motion command (torque command code = 24)
to perform torque control is shown in the following figures.
When torque control is performed, a speed limit is applied to keep the speed from accelerating
more than necessary.
Line 3: The torque command code is set in the motion command register.
Line 4: The speed limit is specified.
Line 5: The torque reference value is set in DW00001. Lines 12 to 15 apply a filter to the refer-
ence value.
Lines 12 to 15: A first order lag filter is applied to the torque reference value. The first order lag
time constant is three seconds.
8-10
8.4 Phase Control
8.4 Phase Control

This section gives an example of programming an electronic shaft to replace the physical shaft
of a mechanical line shaft.
Important
tem.

In this example, the line drive motor of a mechanical line shaft is replaced with a virtual axis
using the SVR Function Module. The sectional drive axes (i.e., two axes of the SVC Function
Module) are synchronized with the virtual axis in SVR Function Module.
Line Shaft Drive System Electronic Shaft Control System (Phase Control)
Servo- Servo-
Line drive motor
motor motor
Roll No. 1 Roll No. 2 Roll No. 1 Roll No. 2
The advantage of an electronic shaft is that by having no drive system (i.e., no gear), the varia-
tions in mechanical precision that occur in drive systems are eliminated, which allows the
machine to operate with greater accuracy. The need for drive system maintenance is also elim-
inated. This continuous multi-axis synchronized control is implemented with phase control
using the PHASE motion command. Motion programs are designed to perform positioning and
cannot be used for this kind of control.
This example uses operational patterns like those shown in the following figures.
Axis X (The first axis of the SVC.)
Speed
Sample Programming
Virtual axis (SVR)

Speed
Time
Axis Y (The second axis of the SVC.)
Time
The virtual axis (SVR) is moved with the VELO Speed
(Issue Speed Reference) command. 8
Time
The feedback position of the virtual axis (SVC) is copied
to the position references for both axes, and synchro-
nized operation of the two axes is performed with the
PHASE command.
8-11
8.4 Phase Control

The SVC Function Module, roll No. 1 (electronic shaft) for axis X, and roll No. 2 (electronic shaft)
for axis Y are used.
Fixed Parameters
The following table gives the fixed parameter settings for both the axis X and axis Y in this
example.
4 1 Selected reference unit: degrees
5 3 Number of digits below decimal point: 3 (i.e., 1 reference unit = 0.001 degrees)
6 360000 Travel distance per machine rotation: 360,000 reference units = 360.000 degrees
8 1
motor.)
9 1
motor.)
29 0 Rotary motor
30 1 Incremental encoder
Setting Parameters
Axis 1 of the SVR is used as the virtual axis. The motion register addresses of the setting
parameters are OW08800 to OW0887F. Two axes of the SVC Function Module are used as
physical axes. The motion register addresses of the setting parameters for axis X are OW08000
to OW0807F. The motion register addresses of the setting parameters for axis Y are OW08080
to OW080FF.
size.
The SVR Function Module circuit number is set to 2 and the axis number is set to 1. The SVC
Function Module circuit number is set to 1, the axis number for axis X is set to 1, and the axis
number for axis Y is set to 2.
The setting parameters for the SVR Function Module are set as follows:
• OL08803 = 0011 hex: Speed unit selection (10n reference units/min) and acceleration/decel-
eration rate unit selection (ms)
• OL08836 = 100: Acceleration rate (ms)
• OL08838 = 100: Deceleration rate (ms)
• OL08810 = NNNNN: Speed reference value (deg/min) --- Set from an input register.
• OW08808 = 23: Speed command code (VELO command)
8-12
8.4 Phase Control
Monitor Parameters
Axis 1 of the SVR Function Module is used as the virtual axis. The motion register addresses of
the monitor parameters are IW08800 to IW0887F.
Two axes of the SVC Function Module are used as physical axes. The motion register
addresses of the monitor parameters for axis X are IW08000 to IW0807F. The motion register
addresses of the monitor parameters for axis Y are IW08080 to IW080FF.
The SVR Function Module circuit number is set to 2 and the axis number is set to 1. The SVC
Function Module circuit number is set to 1, the axis number for axis X is set to 1, and the axis
number for axis Y is set to 2.

An example of a ladder programming that uses a motion command (PHASE command code =
25) to position an axis is shown the following figure.
Line 0: It is confirmed that the virtual axis is not executing any command.
Line 1: Settings required for virtual axis operation are made. The speed reference is read from
input register IL00010.
Lines 2 and 3: The speed loop gains are set for the two physical axes.
Sample Programming
Lines 4 and 5: It is confirmed that both SVC axes are not executing any command.
Line 6: If the operation command (IB010002) is ON, lines 7 to 11 are executed and then exe- 8
cution proceeds to line 20. If the operation command is OFF, lines 13 to 18 are exe-
cuted and then execution proceeds to line 20.
Line 7: A jogging command (FEED command) is executed for the virtual axis.
8-13
8.4 Phase Control
Lines 8 and 9: The Issue Phase Reference (PHASE) is executed for both of the SVC physical
axes.
Lines 10 and 11: Phase compensation is set and cleared for SVC axis 1 (axis X). Phase com-
pensation is applied on the rising edge of input signal IB010003. Phase com-
pensation is canceled on the falling edge of input signal IB010003.
Lines 13 to 18: Processing is performed when the operation command (IB010002) is OFF
and stopping processing is performed when the operation command
changes from ON to OFF.
Lines 13 and 14: The speed reference value for the virtual axis is set to 0, and the motion
command is set to NOP.
Lines 15 and 17: Virtual axis commands are completed, and NOP is sent to the SVC axes.
Lines 16 and 18: The phase bias of the SVC axes is set to 0. The phase bias is cleared in
preparation for the start of operation.
Line 20: The reference speed is set for the SVC axes. The reference speed is the feedback
speed for the virtual axis.
8-14
Stepping Motor Drive
Operation
9
This chapter provides information required to control a
Stepping Motor Drive using the SVC Function Module.
A Stepping Motor Drive can be controlled in the same man-
ner as motion control with a SERVOPACK. This chapter
provides information that is different from when a SERVO-
PACK is used.
The Stepping Motor Drive that will be controlled with SVC
Function Module must implement the MECHATROLINK-III
standard Stepping Motor Drive profile. Contact the manu-
facturer of the stepping motor that will be used for profiles
that can be supported by the Stepping Motor Drive.
9.1 Connection Specifications . . . . . . . . . . . . . 9-2
9.2 Motion Parameter Table . . . . . . . . . . . . . . . 9-3

9.2.1 Fixed Parameter Table . . . . . . . . . . . . . . . . . . . . 9-3
9.2.2 Setting Parameter Table . . . . . . . . . . . . . . . . . . . 9-7
9.2.3 Monitor Parameter Table . . . . . . . . . . . . . . . . . . 9-16
9.3 Link Assignments . . . . . . . . . . . . . . . . . . . 9-25
9.4 Common Parameters . . . . . . . . . . . . . . . . 9-26

9.1 Connection Specifications

The following table lists the specifications for a Stepping Motor Drive connection.
Item Description
SVC and SVC32 MP3200 SVC32: Version 1.18 or later
Applicable Function Modules MP3300 SVC/SVC32: Version 1.18 or later
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
Transmission cycle
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.
9-2
9.2 Motion Parameter Table

The Stepping Motor Drive also has fixed parameters, setting parameters, and monitor parame-
ters, the same as for a SERVOPACK.
Different information is given for each parameter depending on whether a Stepping Motor Drive
or SERVOPACK is used.

The following table lists the fixed parameters.
Fixed parameters compatible with Stepping Motor Drives and SERVOPACKs are indicated with
check marks ().
Refer to the pages in the Reference Page column for details on the fixed parameters in the fol-
lowing table.
Step-
Servo- Reference
No. Name Description ping
motor Page
Motor
0: Normal Operation Mode  
1: Unused Axis (Axis unused)  
Operation Mode Selec- 2: Simulation Mode  
0 page 3-27
tion 3: SERVOPACK Transmission Refer-
 
ence Mode
4 and 5: Reserved. – –
9-3

Step-
Servo- Reference
motor Page
Motor
Bit 0: Axis Selection
0: Finite-length axis  
Bit 1: Enable Positive Software Limit
(Soft limit (positive direction) enable/
 
disable)
Bit 2: Enable Negative Software Limit
(Soft limit (negative direction) enable/
 
disable)
Bit 3: Enable Positive Overtravel (Over-
travel positive direction enable/disable)  
Bit 4: Enable Negative Overtravel
(Overtravel negative direction enable/
 
disable)
Function Selection Flags
1 Bit 8: Interpolation Segment Distribu- page 3-28
1
tion Processing  
Bit 9: Simple Absolute Infinite Axis
Position Management (Simple ABS
 
rotary Pos. mode)
Bit A: SERVOPACK Parameter Auto-
Write (User constants self-writing func-
 
tion)
Bit B: User-specified SERVOPACK
Parameter Auto-Write (User select
 
User constants self-writing function)
Bit C: Software Limit Parameter Selec-
tion (Soft limit parameter selection)
 
0: Fixed parameter
1: Setting parameter
Bits D to F: Reserved. – –
Bit 0: Mask Communications Error
Detection (Communication abnormality
 
detection mask)
Bit 1: Mask Watchdog Error Detection
(WDT abnormality detection mask)  
Function Selection Flags 0: Disabled, 1: Enabled
2 page 3-30
2 Bits 2 to 4: Reserved. – –
Bit 5: Finite-length Multiturn Limit Set-
ting Mismatch Detection Mask
(Multiturn Limit Setting Mismatch  
Detection Mask)
Bits 6 to F: Reserved. − −
3 – Reserved. – – −
9-4

Step-
Servo- Reference
motor Page
Motor
0: Pulses
1: mm
4 Reference Unit Selection 2: Degrees   page 3-31
3: Inches
4: μm
Number of Digits Below
5 1 = 1 digit   page 3-31
Decimal Point
Travel Distance per
Machine Rotation 1 = 1 reference unit   page 3-32
6 (Rotary Motor)
Linear Scale Pitch (Lin-
1 = 1 reference unit –  page 3-32
ear Motor)
Servomotor Gear Ratio
8 1 = 1 revolution   page 3-32
Term
Machine Gear Ratio
9 1 = 1 revolution   page 3-32
Term
Infinite-length Axis Reset
10 Position 1 = 1 reference unit   page 3-32
(POSMAX)
12 Positive Software Limit 1 = 1 reference unit   page 3-33
14 Negative Software Limit 1 = 1 reference unit   page 3-33
16
to – Reserved. – – −
28
0: Rotary motor
29 Motor Type Selection –  page 3-33
1: Linear motor
0: Incremental encoder
1: Absolute encoder
2: Absolute encoder used as incre-
30 Encoder Selection   page 3-33
mental encoder (Absolute encoder
(Incremental encoder is used))
3: Reserved.
31
33
Rated Motor Speed
1 = 1 min-1   page 3-34
(Rotary Motor)
34
Rated Speed (Linear
1 = 0.1 m/s –  page 3-34
Motor)
Number of Pulses Per Stepping Motor Drive Operation
Motor Rotation (Rotary 1 = 1 pulse/rev   page 3-34
Motor)
36
Linear Scale Pitch (Lin- 1 = 1 pulse/scale pitch –  page 3-34
ear Motor)
Maximum Number of
38 Absolute Encoder Rota- 1 = 1 revolution   page 3-35
tions
40
41
Feedback Speed Move-
42 ment Averaging Time 1 = 1 ms   page 3-35 9
Constant
43 – Reserved. – – −
9-5

Step-
Servo- Reference
motor Page
Motor
User-specified SERVO-
The SERVOPACK parameter number
44 PACK Parameter Num-   page 3-35
to apply automatically.
ber
The data size of the above SERVO-
User-specified SERVO-
45 PACK parameter.   page 3-35
PACK Parameter Size
1=1W
9-6

The following table lists the setting parameters.
Setting parameters compatible with Stepping Motor Drives and SERVOPACKs are indicated
with check marks ().
Refer to the pages in the Reference Page column for details on the setting parameters in the
following table.
Information The box characters () in “OW00” are determined by the circuit number and the
axis number. Refer to the following section for details on register addresses.
Step-
Register Servo- Reference
Name Description ping
Address motor Page
Motor
Bit 0: Servo ON
 
0: OFF, 1: ON
Bit 1: Machine Lock
0: Machine lock mode released  
1: Machine lock mode
Bit 4: Latch Detection Request (Latch
detection demand)  
0: OFF, 1: ON
Bit 6: Number of POSMAX Turns Preset
Request (POSMAX turn number preset-
 
ting demand)
0: OFF, 1: ON
Information Load Request (Request ABS
 
rotary pos. load)
0: OFF, 1: ON
Bit 8: Positive External Torque/Force
Limit Input (Forward outside limiting
Run Command  
OW00 torque/thrust input) page 3-36
Settings
0: OFF, 1: ON
Bit 9: Negative External Torque/Force
Limit Input (Reverse outside limiting
 
torque/thrust input)
0: OFF, 1: ON
Bit A: Reserved. – –
Bit B: Reset Integration (Integration Stepping Motor Drive Operation
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 (Commu-
nication reset)  
0: OFF, 1: ON
Bit F: Clear Alarm (Alarm clear)
 
0: OFF, 1: ON 9
9-7

Step-
Address motor Page
Motor
Bit 0: Excessive Deviation Error Level
Setting  
0: Alarm, 1: Warning
Bit 3: Speed Loop P/PI Switch
 
OW01 Mode Settings 1 0: PI control, 1: P control page 3-39
Bit 4: Switch Gain (Gain switch)
 
0: OFF, 1: ON
Bit 5: Switch Gain 2 (Gain switch 2)
 
0: OFF, 1: ON
Bits 8 to F: Stop Mode Selection
0: Stop according to the Linear Deceler-
ation Rate/Deceleration Time Constant
OW02 Mode Settings 2 parameter (Decelerate to a stop accord- page 3-40
 
ing to the linear deceleration time con-
stant).
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
 
0: Reference units/s2
Function Set-
OW03 1: ms page 3-40
tings 1
Bits 8 to B: Filter Type Selection
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
3: /EXT1
4: /EXT2
5: /EXT3
Function Set-
OW04 Bits 4 to 7: External Positioning Signal page 3-41
tings 2
Setting
0: −
1: −
 
2: Phase-C pulse
3: /EXT1
4: /EXT2
5: /EXT3
9-8

Step-
Address motor Page
Motor
Bit 1: Disable Phase Reference Calcula-
tion  
Bit 2: External Positioning Final Travel
Function Set- Distance Write Selection
OW05   page 3-41
tings 3 0: Automatically apply
1: Do not automatically apply
Bits 3 to A: Reserved. – –
Bit B: Zero Point Return Input Signal
 
0: OFF, 1: ON
Bits C to F: Reserved. – –
M-III Vendor-
specific Servo
OW06 Used as the Servo I/O areas.   page 3-42
Command Out-
put Signal
9-9

Step-
Address motor Page
Motor
1: POSING (Positioning)  
2: EX_POSING (External Positioning)  
3: ZRET (Zero Point Return)  
4: INTERPOLATE (Interpolation)  
5: Reserved. – –
6: LATCH (Interpolate 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)  
 
Parameter) (Read user constant)
 
Parameter) (Write user constant)
19: ALM_MON (Monitor Alarms) (Alarm
 
Motion Com- monitor)
OW08 page 3-44
mands 20: ALM_HIST (Monitor Alarm History)
 
(Alarm history monitor)
21: ALMHIST_CLR (Clear Alarm History)  
22: ABS_RST (Reset Absolute Encoder) – 
 
(Speed reference)
24: TRQ (Issue Torque/Force Reference)
 
(Torque/Thrust reference)
 
(Phase reference)
26: KIS (Change Position Loop Integral
 
Time Constant)
27: PPRM_WR (Write Non-volatile
 
Parameter) (Stored parameter write)
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 Mem-
 
ory)
38: PMEM_WR (Write Non-volatile Mem-
 
ory)
39: MLTTRN_SET (Multiturn Limit Set-
– 
ting)
9-10

Step-
Address motor Page
Motor
Bit 0: Hold Command (Holds a com-
mand)  
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 Selec-
tion  
0: Reverse, 1: Forward
Bit 4: Latch Zone Enable (Latch zone
effective selection)  
Motion Com- Bit 5: Position Reference Type
OW09 mand Control 0: Incremental value addition method page 3-45
Flags (Incremental value add method)  
Bit 6: Electric Cam Phase Compensa-
tion Type (Phase Compensation Type)
0: Incremental addition method (Incre-
 
mental value add method)
Bit 8: SERVOPACK Parameter Access
Selection (Access target servo driver
user constant)  
1: PRM_RD (Read SERVOPACK Param-
 
eter) (Read user constant)
2: PRM_WR (Write SERVOPACK Param-
 
eter) (Write user constant)
Motion Subcom- 3: INF_RD (Read Device Information)  
OW0A page 3-46
mands 4: SMON (Monitor Status)   Stepping Motor Drive Operation
5: FIXPRM_RD (Read Fixed Parameter)  
6: FIXPRM_CHG (Change Fixed Param-
 
eter) (Write fixed parameter)
7: MEM_RD (Read Memory)  
8: MEM_WR (Write Memory)  
OW0B − Reserved. – – –
Torque/Force
Reference Set-
The unit is set in bits C to F (Torque Unit
OL0C ting or Torque   page 3-47
Feedforward
Compensation
Speed Limit for
OW0E Torque/Force 1 = 0.01% (percentage of rated speed)   page 3-47 9
Reference
OW0F − Reserved. – – –
Speed Reference The unit is set in bits 0 to 3 (Speed Unit
OL10   page 3-48
Setting Selection) of OW03.
9-11

Step-
Address motor Page
Motor
1 = 0.01% (percentage of rated motor
OW12 Speed Limit speed (rotary motor) or rated speed (lin-   page 3-48
ear motor))
Torque/Force The unit is set in bits C to F (Torque Unit
OL14   page 3-49
Limit Selection) of OW03.
Second Speed The unit is set in bits 0 to 3 (Speed Unit
OL16   page 3-49
Compensation Selection) of OW03.
OW18 Override 1 = 0.01%   page 3-50
OW19
OW1B
Position Refer-
OL1C 1 = 1 reference unit   page 3-50
ence Setting
Positioning Com-
OL1E 1 = 1 reference unit   page 3-50
pletion Width
NEAR Signal
Output Width
Excessive Devia-
OL22 tion Detection 1 = 1 reference unit   page 3-52
Value
OL24 – Reserved. – – –
Positioning Com-
OW26 pletion Check 1 = 1 ms   page 3-52
Time
Phase Compen-
sation Setting
Latch Zone
OL2A Lower Limit Set- 1 = 1 reference unit  
ting
page 3-53
Latch Zone
OL2C Upper Limit Set- 1 = 1 reference unit  
ting
Position Loop
OW2E 1 = 0.1 /s   page 3-55
Gain
Speed Loop
OW2F 1 = 1 Hz   page 3-55
Gain
Speed Feedfor-
1 = 0.01% (percentage of distribution
OW30 ward Compen-   page 3-55
segment)
sation
Speed Compen-
OW31 1 = 0.01% (percentage of rated speed)   page 3-56
sation
Position Loop
OW32 Integral Time 1 = 1 ms   page 3-56
Constant
Speed Loop
OW34 Integration Time 1 = 0.01 ms   page 3-56
Constant
Linear Accelera-
tion Rate/Accel-
OL36 tion/Deceleration Rate Unit Selection) of   page 3-57
eration Time
OW03.
Constant
9-12

Step-
Address motor Page
Motor
Linear Decelera-
tion Rate/Decel-
OL38 tion/Deceleration Rate Unit Selection) of   page 3-57
eration Time
OW03.
Constant
Filter Time Con-
OW3A 1 = 0.1 ms   page 3-58
stant
Bias Speed for
Indexed Deceler- The unit is set in bits 0 to 3 (Speed Unit
OW3B – – page 3-59
ation/Accelera- Selection) of OW03.
tion Filter
0: DEC1 + C pulse
1: ZERO signal
2: DEC1 + ZERO signal
3: C pulse
4 to 10: Reserved.
11: C pulse only
Zero Point 12: P-OT + C pulse
OW3C   page 3-59
Return Method 13: P-OT only
14: HOME LS + C pulse
15: HOME only
16: N-OT + C pulse
17: N-OT only
18: INPUT + C pulse
19: INPUT only
Zero Point Posi-
OW3D tion Output 1 = 1 reference unit   page 3-60
Width
The unit is set in bits 0 to 3 (Speed Unit
OL3E Approach Speed   page 3-60
OL40 Creep Speed   page 3-60
Zero Point
OL42 Return Travel 1 = 1 reference unit   page 3-60
Distance
STEP Travel Dis-
tance
External Posi-
OL46 tioning Final 1 = 1 reference unit   page 3-62 Stepping Motor Drive Operation
Travel Distance
Zero Point Posi-
tion Offset in
Machine Coordi-
nate System
Working Coordi-
OL4A nate System Off- 1 = 1 reference unit   page 3-62
set
Number of POS-
OL4C MAX Turns Pre- 1 = 1 revolution   page 3-63
set Data
OW4E
SERVOPACK
User Monitor
  page 3-63
9
Setting
9-13

Step-
Address motor Page
Motor
SERVOPACK
OW4F Alarm Monitor Sets the number of the alarm to monitor.   page 3-64
Number
SERVOPACK
OW50 Parameter Num-   page 3-64
ber.
ber
SERVOPACK Sets the size of the SERVOPACK
OW51   page 3-64
Parameter Size parameter in words.
SERVOPACK
OL52 Parameter Set   page 3-65
parameter.
Value
Auxiliary SERVO-
OW54 PACK Parame-   page 3-65
ber.
ter Number
Auxiliary SERVO-
Sets the size of the SERVOPACK
OW55 PACK Parame-   page 3-65
parameter in words.
ter Size
Auxiliary SERVO-
OL56 PACK Parame-   page 3-65
parameter.
ter Set Value
OL58 Address Setting MEM_RD, MEM_WR, PMEM_RD, and   page 3-66
PMEM_WR motion commands.
OW5A − Reserved. – – –
00 hex: Disabled
Device Informa-
02 hex: Device code
OW5B tion Selection   page 3-66
Code
Sets the number of the fixed parameter
Fixed Parameter
OW5C to read with the FIXPRM_RD motion   page 3-66
Number
subcommand.
OW5D − Reserved. – – –
Power OFF
Encoder Posi-
tion (Encoder
OL5E 1 = 1 pulse  
position when
power is off)
(Lower 2 Words)
page 3-67
Power OFF
Encoder Posi-
tion (Encoder
OL60 1 = 1 pulse  
position when
power is off)
(Upper 2 Words)
Power OFF Pulse
Position (Pulse
OL62 position when 1 = 1 pulse  
power is off)
(Lower 2 Words)
page 3-67
Power OFF Pulse
Position (Pulse
OL64 position when 1 = 1 pulse  
power is off)
(Upper 2 Words)
Positive Software
Limit
9-14

Step-
Address motor Page
Motor
Negative Soft-
ware Limit
Auxiliary Address Sets the target address for the MEM_RD
OL6A   page 3-68
Setting and MEM_WR motion subcommands.
OL6C − Reserved. – – –
OL6E − Reserved. – – –
User-specified
Enter the value to set for the SERVO-
SERVOPACK
OL70 PACK parameter that is set with fixed   page 3-69
Parameter Set
parameter No. 44.
Value
Command Buf-
OW68 fers for SERVO- This area is used for command data
to PACK when MECHATROLINK Servo com- –  page 3-69
OW7F Transmission mands are specified directly.
Reference Mode
9-15

The following table lists the monitor parameters.
Monitor parameters compatible with Stepping Motor Drives and SERVOPACKs are indicated
with check marks ().
Refer to the pages in the Reference Page column for details on the monitor parameters in the
following table.
Information The box characters () in “IW00” are determined by the circuit number and the axis
number. Refer to the following section for details on register addresses.
Step-
Address motor Page
Motor
Bit 0: Motion 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
0: System not busy  
IW00 Run Status 1: System busy page 3-69
Bit 3: Servo Ready
0: Servo not ready  
1: Servo ready
Bit 4: Latch Mode
 
received
1: Latch detection request received
Out-of-range Setting parameter: 0 and higher
IW01   page 3-70
Parameter Number Fixed parameter: 1000 and higher
9-16

Step-
Address motor Page
Motor
0: In normal deviation range  
1: Excessive deviation detected
Bit 1: Setting Parameter Error (Set
parameter error)
 
0: In setting range
Bit 2: Fixed Parameter Error
0: In setting range  
Bit 3: Servo Driver 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
IL02 Warnings Bit 6: Positive Overtravel (Positive page 3-71
direction overtravel)
 
Bit 7: Negative Overtravel (Negative
direction overtravel)
 
Bit 8: Servo ON Incomplete
0: Servo ON  
1: Servo ON incomplete
Warning
 
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. – –
9-17

Step-
Address motor Page
Motor
Bit 0: SERVOPACK Error
0: No SERVOPACK alarm  
1: SERVOPACK alarm occurred
Bit 1: Positive Overtravel
(Positive direction overtravel)
 
(Negative direction overtravel)
 
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
IL04 Bit 6: Positioning Time Exceeded
(Positioning time over)
(continued
Alarms   page 3-72
on next 0: No timeout
page.) 1: Timeout occurred
Bit 7: Excessive Positioning Travel Dis-
tance (Excessive positioning moving
amount)  
0: Normal travel distance
1: Excessive travel distance
Bit 8: Excessive Speed
0: Normal speed  
1: Excessive speed
0: Normal following deviation  
1: Excessive deviation
Bit A: Filter Type Change Error
0: No change error  
Bit B: Filter Time Constant Change
Error
 
0: No change error
Bit C: Reserved. – –
Bit D: Zero Point Unset
(Zero point unsetting)
 
0: Zero point is set
1: Zero point unset error occurred
Bits E and F: Reserved. – –
9-18

Step-
Address motor Page
Motor
Bit 10: SERVOPACK Synchronized
Communications Error (Servo Driver
Synch. Comm. error)
0: No synchronized communications  
error
1: Synchronized communications
error occurred
Error
0: No consecutive synchronized
 
communications errors
1: Consecutive synchronized com-
munications errors occurred
Timeout Error
0: SERVOPACK command com-
 
1: SERVOPACK command not com-
Bit 13: Excessive Absolute Encoder
IL04 Rotations (Excessive ABS encoder
(continued rotations)  
Alarms 0: In valid range page 3-72
from previ-
ous page.) 1: Outside valid range
Bit 16: Scan Setting Error
0: No scan setting error  
1: Scan setting error occurred
Bits 17 to 1B: Reserved. – –
Bit 1C: Cyclic Communications Initial-
ization 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   Stepping Motor Drive Operation
1: Mismatch
Motion Command Same as OW08 (Motion Com-
IW08   page 3-75
Response Code mands).
9-19

Step-
Address motor Page
Motor
Bit 0: Command Execution Flag (BUSY)
Bit 1: Command Hold Completed
(HOLDL)
 
0: Command hold not completed
1: Command hold completed
Bit 3: Command Error End (FAIL)
(Command error completed status)
 
Motion Command 0: Completed normally
IW09 1: Completed with an error page 3-76
Status
Bit 7: Absolute Encoder Reset Com-
pleted
– –
0: Reset not completed
1: Reset completed
(COMPLETE)
 
0: Normal execution not completed
Motion Subcom-
Same as OW0A (Motion Sub-
IW0A mand Response   page 3-77
commands).
Code
Bit 0: Command Execution Flag
Bit 3: Command Error End (Command
error completed status)
Motion Subcom-  
IW0B 0: Completed normally page 3-77
mand Status 1: Completed with an error
0: Normal execution not completed  
9-20

Step-
Address motor Page
Motor
Bit 0: Distribution Completed (DEN)
(Discharging completed)
 
0: Distributing pulses
1: Distribution completed
Bit 1: Positioning Completed (POS-
COMP)
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 Com-
Position Manage- pleted (ZRNC) (Zero point return [set-
IW0C page 3-78
ment Status ting] completed)
0: Zero point return/setting not com-  
pleted
1: Zero point return/setting com-
pleted
Bit 6: Machine Locked (MLKL)
(During machine lock)
 
0: Machine Lock Mode released
1: Machine locked
Information Load Completed (ABSLDE)
(ABS rotary pos. LOAD complete)  
0: Load not complete
1: Load completed
Bit 9: POSMAX Turn Preset Completed
(TPRSE) (POSMAX turn preset com-
plete)  
0: Preset not completed
1: Preset completed
Bits A to F: Reserved. – – Stepping Motor Drive Operation
IW0D − Reserved. – – –
Machine Coordi-
IL0E nate System Target 1 = 1 reference unit   page 3-79
Position (TPOS)
Machine Coordi-
nate System Cal-
culated Position
(CPOS)
Machine Coordi-
nate System Refer-
ence Position
(MPOS)
32-bit DPOS 9
(DPOS)
9-21

Step-
Address motor Page
Motor
Machine Coordi-
nate System Feed-
back Position
(APOS)
Machine Coordi-
IL18 nate System Latch 1 = 1 reference unit   page 3-81
Position (LPOS)
Position Deviation
IL1A 1 = 1 reference unit   page 3-81
(PERR)
Target Position
Increment Monitor
IL1C (PDV) (Target posi- 1 = 1 reference unit – – page 3-81
tion difference
monitor)
Number of POS-
IL1E 1 = 1 turn   page 3-81
MAX Turns
Speed Reference
IL20 pulse/s   page 3-82
Output Monitor
IL22
IL27
M-III Servo Com-
Reports the signal information that is
IL28 mand Input Signal   page 3-82
input to the MECHATROLINK-III.
Monitor
Reports the Servo command informa-
M-III Servo Com-
IL2A tion that is input to MECHATROLINK-   page 3-82
mand Status
III.
Bit 0: Drive Alarm (D_ALM) (Drive Alarm
Occurrence)
Bit 1: Drive Warning (D_WAR) (Drive
Warning Occurrence)
Bit 2: Command Ready (CMDRDY)
Bit 3: Alarm Clear Execution Com-
pleted (ALM_CLR_CMP) (Alarm Clear
M-III Command
IW2C Execution Completion)   page 3-83
Status
Bits 4 and 5: Reserved.
Bits 6 and 7: Echo-back of Command
ID (RCMD_ID)
Bits 8 to B: Command Error
(CMD_ALM)
Bits C to F: Communications Error
(COMM_ALM)
SERVOPACK Reports the alarm code from the SER-
IW2D   page 3-84
Alarm Code VOPACK.
IW2E − Reserved. – – –
SERVOPACK User
IW2F Monitor Informa-   page 3-84
tion
SERVOPACK User Reports the result of the selected mon-
IL30   page 3-84
Monitor 2 itor item.
SERVOPACK User Reports the result of the selected mon-
IL34   page 3-85
Monitor 4 itor item.
SERVOPACK Reports the number of the target
IW36   page 3-85
Parameter Number parameter.
Auxiliary SERVO-
Reports the number of the target
IW37 PACK Parameter   page 3-85
parameter.
Number
9-22

Step-
Address motor Page
Motor
SERVOPACK
The data of the SERVOPACK parame-
IL38 Parameter Read   page 3-85
ter that was read.
Data
Auxiliary SERVO-
The data of the SERVOPACK parame-
IL3A PACK Parameter   page 3-85
ter that was read.
Read Data
IW3C
IW3E
Reports the type of the connected
motor.
IW3F Motor Type   page 3-85
0: Rotary motor
1: Linear motor
IL40 Feedback Speed   page 3-86
Torque/Force Ref- The unit is set in bits C to F (Torque
IL42   page 3-86
erence Monitor Unit Selection) of OW03.
IW46
IW55
Fixed Parameter Stores the execution results of the
IL56   page 3-87
Monitor FIXPRM_RD motion subcommand.
IW58
IW5A
00 hex: Disabled
Device Information 02 hex: Device code
IW5B   page 3-87
Monitor Code 03 hex: Device version
IL5C − Reserved. – – –
Power OFF
Encoder Position
IL5E (Encoder position 1 = 1 pulse  
when power is off)
(Lower 2 Words)
page 3-87
Power OFF Stepping Motor Drive Operation
Encoder Position
IL60 (Encoder position 1 = 1 pulse  
when power is off)
(Upper 2 Words)
Power OFF Pulse
Position (Pulse
IL62 position when 1 = 1 pulse  
power is off)
(Lower 2 Words)
page 3-87
Power OFF Pulse
Position (Pulse
IL64 position when 1 = 1 pulse  
power is off)
(Upper 2 Words) 9
IW66
IW6F
9-23

Step-
Address motor Page
Motor
IW70
Device Information Reports the information that was read
to   page 3-88
Monitor Data with the INF_RD subcommand.
IW7F
Response Buffers
OW68
for SERVOPACK Stores MECHATROLINK Servo
to   page 3-88
Transmission Ref- responses.
OW7F*
erence Mode
* These parameters are used in SERVOPACK Transmission Reference Mode only.
9-24
9.3 Link Assignments
9.3 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 MP3000.
The information of the Stepping Motor Drive connected to the MP3000 is recognized and displayed
as shown below on the Link Assignment Tab Page in the MECHATROLINK Communications Defini-
tion Dialog Box. Refer to the following manual for the procedure to execute self configuration.
Refer to the following section for the procedure to display the Link Assignment Tab Page.
Displaying the Module Configuration Definition Tab Page on page 7-2
VENDOR DEVICE PROFILE

*1 *2 Standard SteppingMotorDRV
UnKnown******** UnKnown********
*1. VENDOR gives the vendor ID of the Stepping Motor Drive connected to the MP3000.
*2. VENDOR gives the device ID of the Stepping Motor Drive connected to the MP3000.
2. Manually set VENDOR and DEVICE.

Select ****VENDOR and WildCardDevice as shown below.
VENDOR DEVICE PROFILE
****VENDOR WildCardDevice Standard SteppingMotorDRV
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 Assigned SVC Function

Linkable ST#s
Module Circuits
1 circuit ST#1 to ST#16
2 circuits ST#1 to ST#32
9-25
9.4 Common Parameters
9.4 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.
9-26
Inverter Operation
10
Motion control with an Inverter is possible using the SVC
Function Module. This chapter describes the parameters
and commands required for motion control with an Inverter.
10.1 Connection Specifications . . . . . . . . . . . . 10-2
10.2 Parameters for Inverter Operation . . . . . . 10-3

10.2.1 Types of Motion Parameters . . . . . . . . . . . . . . . 10-3
10.2.2 Motion Parameter Registers . . . . . . . . . . . . . . . 10-3
10.2.3 Motion Parameter Details . . . . . . . . . . . . . . . . . 10-4
10.3 Main Commands and Subcommands . . . 10-33

10.3.1 List of Commands . . . . . . . . . . . . . . . . . . . . . . 10-33
10.3.2 Command Details . . . . . . . . . . . . . . . . . . . . . . 10-35
10.3.3 Applicable Combinations of Main
Commands and Subcommands . . . . . . . . . . . 10-49
10.4 Precautions for Inverter Operation . . . . . 10-50
10.5 Setup Procedure . . . . . . . . . . . . . . . . . . . 10-55

10.5.1 Check Items before Setup . . . . . . . . . . . . . . . . 10-55
10.5.2 Inverter Settings . . . . . . . . . . . . . . . . . . . . . . . 10-56
10.5.3 I/O Options . . . . . . . . . . . . . . . . . . . . . . . . . . . 10-64
10.6 Alarm and Warning Codes for Inverter . . 10-66

10.6.1 A1000 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10-66
10.6.2 V1000 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10-70

The connection specifications when controlling an Inverter using MECHATROLINK-III communi-
cations from the MP3000 Series are given in the following table.
Item Specification
SVC and SVC32 MP3200 SVC32: Version 1.12 or later
Function Modules MP3300 SVC/SVC32: Version 1.10 or later
Engineering Tool MPE720 Version 7: Version 7.23 or later
Applicable 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 Inverters that can be connected
SVC32: 32 max.
SVC: 125 μs, 250 μs, 500 μs, or 1 ms
Transmission cycle
Fixed parameters (To set application conditions)
Interface Setting parameters (To update references and output data)
Monitor parameters (To update monitored or input data)
Self-configuration Function Available
Conforms to the MECHATROLINK-III standard inverter profile
Others
specifications (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 Parameters for Inverter Operation
10.2.1 Types of Motion Parameters

This section describes the motion parameters required for Inverter operation.
10.2.1 Types of Motion Parameters

The motion parameters for operating an Inverter are fixed parameters, setting parameters, and
monitor parameters.
Parameter Description
These parameters are used to configure basic system settings for
Fixed Parameter
Inverter operation.
These parameters are used to configure Inverter operation references
Setting Parameter
and details of functions.
These parameters are used to monitor detailed information, such as
Monitor Parameter
the operating status of the Inverter.
10.2.2 Motion Parameter Registers

Motion parameter registers are used to store setting parameters and monitor parameters.
Specific motion parameter register addresses are determined by the circuit number that is used
for the Motion Control Function Module and the axis number that is assigned.
Motion parameter registers are the same as for SERVOPACKs. Refer to the following chapter
for details on motion parameter registers.
However, the station address of the Inverter is used for motion parameter registers instead of
the axis number on the SERVOPACK.
Inverter Operation
10
10-3
10.2.3 Motion Parameter Details

This section provides tables of the motion parameters.
It also provides details of Inverter output data and input data when using A1000 and V1000
MECHATROLINK-III-compatible Inverters.
Fixed Parameter List

Fixed parameters are used to configure basic system settings for Inverter operation. The fol-
lowing table lists the fixed parameters.
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 0: Normal Operation Mode (default)
Inverter operation is performed.
1: Axis Unused
Impossible to send/receive commands.
1 Reserved − −
Function Selection Flag 2 − 0
Specifies whether to mask an error to be reported to the monitor 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
Abnormality Detec- Warning monitor parameter.
tion Mask 1: Enabled
When a communication error occurs, the error will not be reported in the Alarm or
Warning monitor parameter.
2 Specifies whether to mask an error to be reported to the monitor parameter when
Bit 1: a synchronization management error is detected in MECHATROLINK communica-
WDT Abnormality tions.
Detection Mask 0: Disabled (default)
(Applicable only for If a watchdog error occurs in communications with the Inverter, the error will be
synchronous com- reported in the Alarm monitor parameter.
munications sup- 1: Enabled
ported inverters) If a watchdog error occurs in communications with the Inverter, the error will not
be reported in the Alarm monitor parameter.
Bits 2 to F Reserved
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
Bit 0: errors 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.
1: Warning
Outputs Warning at occurrence of communication error.
When communications is restored, the warning will be automatically cleared.
Bits 1 to E Reserved
Bit F:
Reserved
Parameter Discrim-
1: Inverter parameter (always ON)
ination Flag
4 to
Reserved − −
63
10-4
Setting Parameter List

Settings parameters are used to configure Inverter operation references and details of func-
tions. The following table lists the settings parameters.
Register No. Name Description

Bits 0 to B Reserved
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
control.
• 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
prepare for inverter control operation is sent.
However, this request will not be accepted while
the command Inverter Drive Control is being exe-
Bit D: Drive Permission cuted. 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 Con-
trol.
• 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
monitoring 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
OW00 Command 0: OFF, 1: ON
Setting Re-establishes the connection for MECHATROLINK
communications with the Inverter, whether commu-
nications are stopped or in process. Also clears the
Alarm monitor 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 Func-
tion Module will continue communications whether
or not the Inverter stops communications because
of the error. In this case, the connection for com-
munications can be re-established by executing the
Communications Reset command. By resetting
communications, you can re-establish communica-
tions with the Inverter.
0: OFF, 1: ON
Clears the Alarm monitor parameter.
• This bit is captured at the rising edge.
• If communications are stopped after the MECHA-
TROLINK communication errors, clear the alarm
bit and re-establish communications by setting
Inverter Operation
Bit F: Alarm Clear this bit to 1 (ON).

Note: Alarm Clear is used to clear alarms in the
SVC Function 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).
10
10-5

Bit 0: Multi-function
Input Terminal 3
Input Terminal 4
Bit 2: Multi-function 0: Function OFF, 1: Function ON
Input Terminal 5 Specifies whether to use the multi-function input
Mode Set- terminals. The status of the input terminals is
OW01 Bit 3: Multi-function reported in the Multi-Function Input Terminal moni-
tings 1
Input Terminal 6 tor parameter.
Input Terminal 7
Input Terminal 8
OW02
to − Reserved
OW05
OL06 (Inverter command output) Reserved
00: No Command
01: Inverter Drive Control
02: Read User Constant
Command 03: Write User Constant
OW08 Main Command Details on page 10- 04: Alarm Monitor
35 05: Alarm History Monitor
06: User Constant RAM Writing
07: User Constant EEPROM Writing
08: Transmission Reference
OW09 − Reserved
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 on page 10-42 05: Alarm History Monitor
06: Reserved
07: Reserved
08: Transmission Reference
09: Read Fixed Parameters
OW0B − Reserved
10-6

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.
Bit 1: Analog Output Ter-
option Analog Output Terminal 1 Output
minal 1 Output
(OW14) will be enabled when the Inverter
Drive Control command is executed.
minal 2 Output
(OW15) will be enabled when the Inverter
Drive Control command is executed.
Bit 3: Terminal Output option Terminal Output (OW16) will be
is executed.
Output Data
OW0C Option 0: Disabled, 1: Enabled
Selection 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 exe-
cuted.
Bit 5: Pulse Train Output option Pulse Train Output (OW18) will be
is executed.
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
Bit 8: Command Selec-
option Command Selection (OW1B) will be
tion
is executed.
When this bit is set to 1 (enabled), the input data
Bit 0: Motor Speed
option Motor Speed (IW13) will be monitored
(Option)
cuted.
Bit 1: Torque Reference
option Torque Reference (IW14) will be moni-
Setting
tored when the Inverter Drive Control command is
Input Data executed.
Inverter Operation
OW0D Option
Selection 0: Disabled, 1: Enabled
Bit 2: Encoder Count
option Encoder Count PG1 (IW15) will be
PG1
monitored when the Inverter Drive Control com-
mand is executed.
Bit 3: Frequency
option Frequency Reference (IW16) will be
Reference (Option)
monitored when the Inverter Drive Control com- 10
mand is executed.
10-7

Bit 4: Analog Input A2 option Analog Input A2 (IW17) will be moni-
executed.
Bit 5: Main Bus Voltage
option Main Bus Voltage (IW18) will be moni-
(Option)
executed.
Bit 6: Alarm Code option Alarm Code (IW19) will be monitored
cuted.
Bit 7: Warning Code option Warning Code (IW1A) will be moni-
executed.
Bit 8: Multi-Function
option Multi-Function Output Terminal (IW1B)
Output Terminal
will be monitored when the Inverter Drive Control
Input Data When this bit is set to 1 (enabled), the input data
Option Bit 9: Analog Input A3 option Analog Input A3 (IW1C) will be moni-
OW0D tored when the Inverter Drive Control command is
Selection
(continued) executed.
Bit A: Multi-Function
option Multi-Function Input Terminal (IW1D)
Input Terminal
will be monitored when the Inverter Drive Control
Bit B: Analog Input A1 option Analog Input A1 (IW1E) will be moni-
executed.
Bit C: Encoder Count
option Encoder Count PG2 (IW1F) will be
PG2
monitored when the Inverter Drive Control com-
mand is executed.
Bit D: Monitor data set in
option Monitor Data Set in F6-23 (IW20) will
F6-23
be monitored when the Inverter Drive Control com-
mand is executed.
Bit E: Monitor data set in
F6-24
be monitored when the Inverter Drive Control com-
mand is executed.
Bit F Reserved
10-8

Bit 0: Torque Compensa-
option Torque Compensation (OW13) will be
tion (Option)
enabled when the Inverter I/O Control subcom-
mand is executed.
minal 1 Output
(OW14) will be enabled when the Inverter I/O
Control subcommand is executed.
minal 2 Output
(OW15) will be enabled when the Inverter I/O
Control subcommand is executed.
Bit 3: Terminal Output option Terminal Output (OW16) will be
Auxiliary Out- mand is executed.
put Data 0: Disabled, 1: Enabled
OW0E
Option When this bit is set to 1 (enabled), the output data
Selection Bit 4: PID Target option PID Target (OW17) will be enabled
when the Inverter I/O Control subcommand is exe-
cuted.
Bit 5: Pulse Train Output option Pulse Train Output (OW18) will be
mand is executed.
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
Bit 8: Command Selec-
option Command Selection (OW1B) will be
tion
mand is executed.
Inverter Operation
10
10-9

Bit 0: Motor Speed
option Motor Speed (IW13) will be monitored
(Option)
cuted.
Bit 1: Torque Reference
option Torque Reference (IW14) will be moni-
Setting
tored when the Inverter I/O Control subcommand is
executed.
Bit 2: Encoder Count
option Encoder Count PG1 (IW15) will be
PG1
monitored when the Inverter I/O Control subcom-
mand is executed.
Bit 3 Frequency Refer-
option Frequency Reference (IW16) will be
ence (Option)
mand is executed.
Bit 4: Analog Input A2 option Analog Input A2 (IW17) will be moni-
executed.
Bit 5: Main Bus Voltage
option Main Bus Voltage (IW18) will be moni-
(Option)
Auxiliary tored when the Inverter I/O Control subcommand is
Input Data executed.
OW0F
Option 0: Disabled, 1: Enabled
Selection When this bit is set to 1 (enabled), the input data
Bit 6: Alarm Code option Alarm Code (IW19) will be monitored
cuted.
Bit 7: Warning Code option Warning Code (IW1A) will be moni-
executed.
Bit 8: Multi-Function
option Multi-Function Output Terminal (IW1B)
Output Terminal
will be monitored when the Inverter I/O Control sub-
Bit 9: Analog Input A3 option Analog Input A3 (IW1C) will be moni-
executed.
Bit A: Multi-Function
option Multi-Function Input Terminal (IW1D)
Input Terminal
will be monitored when the Inverter I/O Control sub-
Bit B: Analog Input A1 option Analog Input A1 (IW1E) will be moni-
executed.
10-10

Bit C: Encoder Count
option Encoder Count PG2 (IW1F) will be
PG2
mand is executed.
Auxiliary When this bit is set to 1 (enabled), the input data
Input Data Bit D: Monitor data set in
OW0F Option F6-23
be monitored when the Inverter I/O Control sub-
Selection command is executed.
(continued)
F6-24
be monitored when the Inverter I/O Control sub-
Bit F Reserved
0: Stop, 1: Forward RUN
This data is enabled when the Inverter Drive Control
Bit 0: Forward RUN
command is executed. A forward command is
applied.
0: Stop, 1: Reverse RUN
Bit 1: Reverse RUN
command is executed. A reverse command is
applied.
Bit 2 to 8 Reserved
0: Disabled, 1: Fault reset
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
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
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.
Bits D to F Reserved
Unit: According to the O1-03 Inverter parameter.
OW11 Speed Reference
(0.01 Hz, 0.01%, min-1, or user-specified unit)
You can check the current unit setting in the Unit
monitor parameter (IW06).
Inverter Operation
OW12 Torque Reference
Unit: 0.1%
Setting range: -3,000 to 3,000
OW13 Torque Compensation (Option)
Unit: 0.1%
10
10-11

OW14 Analog Output Terminal 1 Output Unit: 10 V/4000 hex
Setting range: -16,384 (C000 hex) to 16,384 (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
0: OFF, 1: ON
Outputs to terminals P1-PC.
Terminal Out- Bit 1: Contact P1-PC This data is enabled when the Inverter Drive Control
OW16
put command is executed.
0: OFF, 1: ON
Outputs to terminals P2-PC.
Bit 2: Contact P2-PC
Unit: 0.01%
OW17 PID Target
Unit: 1 Hz
OW18 Pulse Train Output
Setting range: 0 to 32,000
Unit: 0.1%
OW19 V/f Gain
OW1A – Reserved
Bit 0 Reserved
0: OFF, 1: ON
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
OW1C
to – Reserved
OW31
Setting range: 0 to 9
OW32 Inverter Alarm Monitor Number Set the alarm history number for the Alarm History
Monitor command.
OW33 Auxiliary Inverter Alarm Monitor Number Set the alarm history number for the Alarm History
Monitor subcommand.
OW34
to – Reserved
OW3B
Setting range: 0 to FFFFH
Set the leading number of the user constants to
read by executing the Read User Constant com-
mand, or set the leading number of the user con-
OW3C Inverter User Constant Number stants to write by executing the Write User
Constant command.
Note: Set the register number used for MEMO-
BUS communications.
10-12

Setting range: 1 to 4 (words)
Set the size of the user constant to read by execut-
ing the Read User Constant command, or set the
size of the user constant to write by executing the
OW3D Inverter User Constant Number Size Write User 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
Inverter User Constant
OW3E command.
Set Point 1
Enabled when Inverter User Constant Number Size
= 1 to 4
OW3F command.
Set Point 2
= 2 to 4.
OW40 command.
Set Point 3
= 3 or 4.
OW41 command.
Set Point 4
= 4.
Set the leading number of user constants to read
by executing the Read User Constant subcom-
mand, or the leading number of user constants to
OW42 Auxiliary Inverter User Constant Number write by executing the Write User Constant sub-
command.
Note: Set the register number used for MEMO-
BUS communications.
Setting range: 1 to 4 (words)
Set the size of the user constant to read by execut-
ing the Read User Constant subcommand, or set
the size of the user constant to write by executing
OW43 Auxiliary Inverter User Constant Size the Write User Constant subcommand, in words.
Each inverter constant is composed of one word.
Therefore, setting the Inverter User Constant Num-
ber Size enables the reading or writing of data of 1
to 4 consecutive words at once.
Auxiliary Inverter User Constant
OW44 subcommand.
Set Point 1
Enabled when Auxiliary Inverter User Constant
Number Size = 1 to 4.
Inverter Operation

Set Point 2
Number Size = 2 to 4.
Set Point 3
Number Size = 3 or 4. 10
10-13

Set Point 4
Number Size = 4.
OW48 Fixed Parameter Number Set the fixed parameter number to read for the
Read Fixed Parameters subcommand.
OW49
to – Reserved
OW5F
This data is sent as the 1st word in the command
OW60 Transmission Reference Output Data 0
(main command bytes 0 and 1) when the Transmis-
sion Reference command is executed.
This data is sent as the 2nd word in the command
This data is sent as the 3rd word in the command
This data is sent as the 4th word in the command
(main command bytes 10 and 11) when the Trans-
mission Reference command is executed.
OW6A Transmission Reference Output Data 10
OW6B Transmission Reference Output Data 11
10-14

OW6C Transmission Reference Output Data 12
OW6D Transmission Reference Output Data 13
OW6E Transmission Reference Output Data 14
OW6F Transmission Reference Output Data 15
This data is sent as the 1st word in the subcom-
OW70 Transmission Reference Output Data 16 mand (subcommand bytes 0 and 1) when the
Transmission Reference subcommand is executed.
Note: Enabled only in 64-byte Mode.
This data is sent as the 2nd word in the subcom-
This data is sent as the 3rd word in the subcom-
This data is sent as the 4th word in the subcom-
Inverter Operation

10-15

OW7A Transmission Reference Output Data 26 mand (subcommand bytes 20 and 21) when the
OW7B Transmission Reference Output Data 27 mand (subcommand bytes 22 and 23) when the
OW7C Transmission Reference Output Data 28 mand (subcommand bytes 24 and 25) when the
OW7D Transmission Reference Output Data 29 mand (subcommand bytes 26 and 27) when the
OW7E Transmission Reference Output Data 30 mand (subcommand bytes 28 and 29) when the
Note: Valid only in 64-byte Mode.
OW7F Transmission Reference Output Data 31 mand (subcommand bytes 30 and 31) when the
Note: Valid only in 64-byte Mode.
* Communications are continued when the fixed parameters in the SVC Function Module 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
10-16
Monitor Parameter List

Monitor parameters are used to monitor detailed information, such as the operating status of
the Inverter. The following table lists the monitor parameters.
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 Set-
Bit 0: Operation Ready ting (OW00) is set to ON, and Inverter drive
control 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

Bit 2: System BUSY Not used
0: Inverter not ready
1: Inverter ready
Turns ON when communications (synchronous
communications) with the Inverter are estab-
Bit 3: Inverter Ready lished. Turns OFF when a MECHATROLINK com-
munications error occurs.
Note: This bit provides different information
from Inverter Operation Ready (READY)
in the Inverter.
Setting parameters: 0 and higher
Fixed parameters: 1000 and higher
Parameter Number when Range Over is
IW01 Displays the parameter number whose setting is
Generated
incorrect (out of the setting range). The parame-
ter number offset by 1000 is displayed.
Bit 0 Reserved
Turns ON when setting parameter error occurs.
Correct the setting parameter to clear the warn-
Bit 1: Setting Parameter
ing.
Error
This warning can be cleared by executing Alarm
Clear.
Turns ON when fixed parameter error occurs.
Bit 2: Fixed Parameter Correct the fixed parameter to clear the warning.
Error This warning cannot be cleared by executing
Alarm Clear.
Bit 3 Reserved
Turns ON when a command outside the allow-
Bit 4: Command Set
able setting range is set.
Warning
Correct the command to clear the warning.
IL02 Warning Bits 5 to 8 Reserved
Turns ON when MECHATROLINK communica-
tions errors are detected individually.
Enabled when:
Inverter Operation
Communication Abnormality Detection Mask bit

of the Function Selection Flag 2 fixed parameter
Bit 9: Communication
is 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 communica-
tions are restored.
Turns ON when a subcommand outside the
Bit A: Sub Command Set
allowable setting range is set. 10
Warning
Correct the subcommand to clear the warning.
Bits B to 1F Reserved
10-17

Register
Name Description
No.
Bits 0 to E Reserved
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 to Disabled, and Alarm is selected for
Error
Communication Selection Abnormal of the Func-
tion Selection Flag 3 fixed parameter.
Clear.
Turns ON when a response from the Inverter for a
command or subcommand is not detected within
IL04 Alarm five seconds.
Timeout Error
Clear.
Bits 13 to 15 Reserved
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
With MECHATROLINK-III, a node can join the
network while communications are in progress.
However, conditions such as the transmission
cycle and the number of slave stations may pre-
Bit 1C: Cyclic Communi-
vent a node from joining the network. If that
cation Initialize incomplete
occurs, this bit turns ON. If this alarm occurs,
turn the power supply to the MP3000 OFF and
ON again or reset the network (OW00 bit
C).
Turns ON when the Inverter model assigned in
Bit 1D: Drive Type Error the SVC definitions does not match the actual
Inverter model that is connected.
Bits 1E to 1F Reserved
10-18

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 estab-
Bits 0 to 3: Speed Refer- lished.
ence Note: Do not change the setting unit in the
Inverter after communications have
been established. If you change the set-
ting in the Inverter after communications
IW06 Unit have been established, the parameter
values will not match between the
Inverter and monitors, and unexpected
operation may occur.
0: 0.1%
Bits 4 to 7: Torque Refer-
1: Unit in product specifications
ence
1000-series Inverter: 0.1% (fixed)
0: 0.1A
Bits 8 to B: Output Cur- 1: Unit in product specifications
rent 1000-series Inverter: Unit in product specifica-
tions (fixed)
Bits C to F Reserved
IW07 – Reserved
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.
04: Alarm Monitor Alarm Monitor is executed.
Command
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 Refer-
Transmission Reference is executed.
ence
ON during command execution
Bit 0: Command Execu-
Always ON when Transmission Reference com-
tion Flag
mand is selected.
Bits 1and 2 Reserved
Bit 3: Command Error Turns ON when command execution ends in an
Completed Status error.
Command Sta- Bits 4 to 7 Reserved
IW09
tus
Turns ON when command execution is com-
pleted.
Bit 8: Command Execu- With a Inverter Drive Control command, data
tion Completed input and output will continue after command
execution is completed.
Inverter Operation
Always ON when No Command is selected.

10
10-19

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.
03: Write User Constant Write User Constant is executed.
Subcommand
IW0A Response 04: Alarm Monitor Alarm Monitor is executed.
Code 05: Alarm History Monitor Alarm History Monitor is executed.
08: Transmission Refer-
Transmission Reference is executed.
ence
09: Read Fixed Parame-
Read Fixed Parameters is executed.
ters
ON during command execution.
Always ON when Inverter I/O Control or Trans-
tion Flag
Bits 1 and 2 Reserved
Bit 3: Command Error Turns ON when command execution ends in an
Subcommand Completed Status error.
IW0B
Status
Turns ON when command execution is com-
pleted.
tion Completed
Always ON when No Command is selected.
IW0C − Reserved
10-20

Register
Name Description
No.
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
Bit 2: Encoder Count PG1 Input Data Option Selection (OW0D) and
the data is being normally reported.
ON when Frequency Reference is selected for
Bit 3: Frequency Refer-
Input Data Option Selection (OW0D) and
ence
ON when Analog Input A2 is selected for Input
Bit 4: Analog Input A2 Data Option Selection (OW0D) and the
ON when Main Bus Voltage is selected for Input
Bit 5: Main Bus Voltage Data Option Selection (OW0D) and the
ON when Alarm Code is selected for Input Data
Bit 6: Alarm Code Option Selection (OW0D) and the data is
being normally reported.
ON when Warning Code is selected for Input
Bit 7: Warning Code Data Option Selection (OW0D) and the
Input Data data is being normally reported.
IW0D Option Selec-
tion Monitor 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.
Bit 9: Analog Input A3 Data Option Selection (OW0D) and the
ON when Multi-Function Input Terminal is
Bit A: Multi-Function Input selected for Input Data Option Selection
Terminal (OW0D) and the data is being normally
reported.
Bit B: Analog Input A1 Data Option Selection (OW0D) and the
Bit C: Encoder Count PG2 Input Data Option Selection (OW0D) and
ON when Monitor Data Set in F6-23 is selected
Bit D: Monitor data set in
for Input Data Option Selection (OW0D)
F6-23
and the data is being normally reported.
for Input Data Option Selection (OW0D)
F6-24
Bit F Reserved
Inverter Operation
IW0E − Reserved
10
10-21

Register
Name Description
No.
ON when Motor Speed is selected for Auxiliary
Bit 0: Motor Speed Input Data Option Selection (OW0F) and
ON when Torque Reference is selected for Auxil-
Bit 1: Torque Reference iary Input Data Option Selection (OW0F)
Auxiliary Input Data Option Selection
Bit 2: Encoder Count PG1
(OW0F) and the data is being normally
reported.
ON when Frequency Reference is selected for
Bit 3: Frequency Refer- Auxiliary Input Data Option Selection
ence (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
ON when Main Bus Voltage is selected for Auxil-
Bit 5: Main Bus Voltage iary Input Data Option Selection (OW0F)
ON when Alarm Code is selected for Auxiliary
Bit 6: Alarm Code Input Data Option Selection (OW0F) and
ON when Warning Code is selected for Auxiliary
Bit 7: Warning Code Input Data Option Selection (OW0F) and
Auxiliary Input the data is being normally reported.
Data Option
IW0F ON when Multi-Function Output Terminal is
Selection Moni-
tor Bit 8: Multi-Function Out- selected for Auxiliary Input Data Option Selection
put Terminal (OW0F) and the data is being normally
reported.
Bit 9: Analog Input A3 Input Data Option Selection (OW0F) and
ON when Multi-Function Input Terminal is
Bit A: Multi-Function Input selected for Auxiliary Input Data Option Selection
Terminal (OW0F) and the data is being normally
reported.
Bit B: Analog Input A1 Input Data Option Selection (OW0F) and
Auxiliary Input Data Option Selection
Bit C: Encoder Count PG2
(OW0F) and the data is being normally
reported.
Bit D: Monitor data set in for Auxiliary Input Data Option Selection
F6-23 (OW0F) and the data is being normally
reported.
Bit E: Monitor data set in for Auxiliary Input Data Option Selection
F6-24 (OW0F) and the data is being normally
reported.
Bit F Reserved
IW10 – Reserved
Reports the output frequency from the Inverter.
IW11 Output Frequency
10-22

Register
Name Description
No.
Reports the output current from the Inverter.
Unit: 0.1 A
IW12 Output Current
Reports the motor speed during operation.
IW13 Motor Speed (Option)
Reports the torque reference.
Unit: 0.1%
IW14 Torque Reference (Option)
IW15 Encoder Count PG1 Reports the counter value.
Reports the frequency reference from the
Inverter.
IW16 Frequency Reference (Option) Unit: According to the O1-03 Inverter parameter.
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.
Bit 0: Terminal 1 Status 0: OFF, 1: ON
Multi-Function
IW1B Bit 6: Terminal 7 Status 0: OFF, 1: ON
Output Terminal
Bit A: Terminal 11 Status 0: OFF, 1: ON
Bit B: Terminal 12 Status 0: OFF, 1: ON
IW1C Analog Input A3 Unit: 0.1%
Multi-Function
IW1D Bit 4: Terminal 5 Status 0: OFF, 1: ON
Input Terminal
Inverter Operation

IW1E Analog Input A1 Unit: 0.1%
IW1F Encoder Count PG2 Reports the count value.
Reports the result of the monitor set in the F6-23
IW20 Monitor data set in F6-23
Inverter parameter.
Reports the result of the monitor set in the F6-24
Inverter parameter. 10
10-23

Register
Name Description
No.
IW22
to – Reserved
IW27
IL28 M-III Inverter Command Input Status Not used.
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 Coin-
ON during speed coincidence.
cident
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
M-III Inverter Bit 9: During Reset ON while the fault reset signal is being input.
IL2A Command Sta-
tus Bit A: Momentary/Power ON after recovering from momentary power inter-
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
Bit F Reserved
Bit 10 to Bit 17 Reserved
0: SEL_MON1 disabled.
Bit 18: SEL_MON1 Status
1: Data specified with SEL_MON1 enabled
Bit 19: SEL_MON2 Status
1: Data specified with SEL_MON2 enabled.
Bit 1A to Bit 1F Reserved
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 Execu-
tion Completion (ALM_CL- ON when clearing the alarm is completed.
M-III Com- R_CMP)
IW2C
mand Status
Bits 6 to 7: Echo-back of
Reports the echo-back value of the command ID
the command ID (RCM-
of a MECHATROLINK command.
D_ID)
Bits 8 to B: Command Reports the MECHATROLINK command error
Error (CMD_ALM) status.
Bits C to F: Communica- Reports the MECHATROLINK communications
tion Error (COMM_ALM) error status.
IW2D
to – Reserved
IW30
10-24

Register
Name Description
No.
Bit 0 Reserved
Bit 1 Reserved
Bit 2: Command Ready
ON when a subcommand can be received.
(CMDRDY)
M-III Sub Com-
IW31 Bit 3 Reserved
mand Status
Bits 8 to B: Command Reports the MECHATROLINK subcommand
Error (CMD_ALM) error status.
Range: 0 to FFFFH
Displays the alarm codes returned in the
IW32 Inverter Alarm Code
response to the Alarm Monitor or Alarm History
Monitor command.
Range: 0 to FFFFH
Displays the alarm codes returned in the
IW33 Auxiliary Inverter Alarm Code
response to the Alarm Monitor or Alarm History
Monitor subcommand.
IW34
to − Reserved
IW3B
Range: 0 to FFFFH
Displays the inverter user constant number set
IW3C Inverter User Constant Number
for the Read User Constant or Write User Con-
stant command.
IW3D − Reserved
Range: 0 to FFFFH
Displays the value read out by executing the
IW3E User Constant Reading Data 1 Read User Constant command. Enabled when
Inverter User Constant Number Size
(OW3D) = 1 to 4.
Range: 0 to FFFFH
IW3F User Constant Reading Data 2 Read User Constant command. Enabled when
(OW3D) = 2 to 4.
Range: 0 to FFFFH
IW40 User Constant Reading Data 3 Read User Constant command. Enabled when
(OW3D) = 3 or 4.
Range: 0 to FFFFH
IW41 User Constant Reading Data 4 Read User Constant command. Enabled when
(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
Inverter Operation
Constant subcommand.
IW43 − Reserved
Range: 0 to FFFFH
IW44 Auxiliary User Constant Reading Data 1 Read User Constant subcommand. Enabled
when Auxiliary Inverter User Constant Number
Size (OW43) = 1 to 4.
10
10-25

Register
Name Description
No.
Range: 0 to FFFFH
Size (OW43) = 2 to 4.
Range: 0 to FFFFH
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
IL48 Fixed Parameter Monitor executing the Read Fixed Parameters subcom-
mand.
IW4A
to – Reserved
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
Displays the 3rd word in the response data (main
Displays the 4th word in the response data (main
IW65 Transmission Reference Input Data 5 command bytes 10 and 11) when the Transmis-
Displays the 10th word in the response data
IW69 Transmission Reference Input Data 9 (main command bytes 18 and 19) when the
Transmission Reference command is executed.
IW6A Transmission Reference Input Data 10 (main command bytes 20 and 21) when the
IW6B Transmission Reference Input Data 11 (main command bytes 22 and 23) when the
IW6C Transmission Reference Input Data 12 (main command bytes 24 and 25) when the
10-26

Register
Name Description
No.
IW6D Transmission Reference Input Data 13 (main command bytes 26 and 27) when the
IW6E Transmission Reference Input Data 14 (main command bytes 28 and 29) when the
IW6F Transmission Reference Input Data 15 (main command bytes 30 and 31) when the
Displays the 1st word in the subresponse data
(subcommand bytes 0 and 1) when the Trans-
IW70 Transmission Reference Input Data 16 mission Reference subcommand is executed.
Displays the 2nd word in the subresponse data
Displays the 3rd word in the subresponse data
Displays the 4th word in the subresponse data
Inverter Operation

IW7A Transmission Reference Input Data 26 mission Reference subcommand is executed.
10-27

Register
Name Description
No.
IW7B Transmission Reference Input Data 27 mission Reference subcommand is executed.
IW7C Transmission Reference Input Data 28 mission Reference subcommand is executed.
IW7D Transmission Reference Input Data 29 mission Reference subcommand is executed.
IW7E Transmission Reference Input Data 30 mission Reference subcommand is executed.
IW7F Transmission Reference Input Data 31 mission Reference subcommand is executed.
Inverter Output Data Details

The following table provides details on the data output from the A1000 and V1000 Inverters
that support MECHATROLINK-III.
Bit 0 Forward RUN
Bit 1 Reverse RUN
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
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%
Bit 0 Contact M1-M2
Bit 1 Contact P1-PC
OW16 Terminal Output
Bit 2 Contact P2-PC
10-28
Inverter Input Data Details

The following table provides details on the data input to the A1000 and V1000 Inverters that
support MECHATROLINK-III.
IW11 Output Frequency
Inverter parameter.
IW12 Output Current Unit: 0.1 A
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.)
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
Bit 0: Terminal 1
0: OFF, 1: ON
Status
Bit 1: Terminal 2
0: OFF, 1: ON
Status
Bit 2: Terminal 3
0: OFF, 1: ON
Status
Bit 3: Terminal 4
0: OFF, 1: ON
Status
Bit 4: Terminal 5
0: OFF, 1: ON
Status
Bit 5: Terminal 6
0: OFF, 1: ON
Status
Multi-Function
IW1B Bit 6: Terminal 7
Output Terminal 0: OFF, 1: ON
Status
Bit 7: Terminal 8
0: OFF, 1: ON
Status
Bit 8: Terminal 9
0: OFF, 1: ON
Status
Bit 9: Terminal
0: OFF, 1: ON
10 Status
Bit A: Terminal
0: OFF, 1: ON
11 Status
Bit B: Terminal
0: OFF, 1: ON
12 Status
IW1C Analog Input A3 Unit: 0.1%
Inverter Operation
10
10-29

Bit 0: Terminal 1
0: OFF, 1: ON
Status
Bit 1: Terminal 2
0: OFF, 1: ON
Status
Bit 2: Terminal 3
0: OFF, 1: ON
Status
Bit 3: Terminal 4
0: OFF, 1: ON
Status
Multi-Function
IW1D Bit 4: Terminal 5
Input Terminal 0: OFF, 1: ON
Status
Bit 5: Terminal 6
0: OFF, 1: ON
Status
Bit 6: Terminal 7
0: OFF, 1: ON
Status
Bit 7: Terminal 8
0: OFF, 1: ON
Status
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
Inverter parameter.
Reports the result of the monitoring set in the F6-24
Inverter parameter.
10-30

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 ON while main power supply is 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 Error ON when an oPE error has occurred.
Bit 8 Reserved
Bit 9: During
ON while the fault reset signal is being input.
M-III Inverter Reset
IL2A
Command Status 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
Bit F Reserved
Bits 18:
SEL_MON1 Sta-
1: Data specified with SEL_MON1 enabled
tus
Bits 19:
SEL_MON2 Sta-
1: Data specified with SEL_MON2 enabled.
tus
Bits 1A to 1F Reserved
Inverter Operation
10
10-31

Bit 0: Device
Alarm Occur- ON when a device alarm has occurred.
rence (D_ALM)
Bit 1: Device
Warning Occur- ON when a device warning has occurred.
rence (D_WAR)
Bit 2: Command
Ready ON when a command can be received.
(CMDRDY)
Bit 3: Alarm
Clear Execution
ON when clearing the alarm is completed.
Completion
M-III Command (ALM_CLR_CMP)
IW2C
Status
Bits 6 to 7:
Echo-back of the Reports the echo-back value of the command ID of a
command ID MECHATROLINK command.
(RCMD_ID)
Bits 8 to B:
Command Error Reports the MECHATROLINK command error status.
(CMD_ALM)
Bits C to F:
Communication Reports the MECHATROLINK communications error
Error status.
(COMM_ALM)
10-32
10.3 Main Commands and Subcommands
10.3.1 List of Commands

This section describes the main commands and subcommands that can be used when con-
necting Inverters.
List of Main Commands

Main commands are used for Inverter operation. They are used to write control programs for
Inverter operation as ladder programs.
A distinct command code is assigned to each main command. Inverter operation is started by
setting the OW08 setting parameter to the command code of the main command to be
used.
The following table lists the main commands.
Main commands compatible with MECHATROLINK-III (64-byte mode) and MECHATROLINK-III
(32-byte mode) are indicated with check marks ().
Refer to the reference pages for details on individual commands.
Com- MECHATROLINK- MECHATROLINK- Refer-
mand Name Description III III ence
Code (64-byte Mode) (32-byte Mode) Page
Nothing is executed. If you
change to this command during
page
0 No Command execution of another command,  
10-35
the current command process is
canceled.
Inverter Drive Sends commands to the Inverter page
1  
Control and monitors the Inverter. 10-35
Read User Reads the specified inverter user page
2  
Constant constant from the Inverter. 10-37
Writes the specified inverter user
Write User page
3 constant to a constant in the  
Constant 10-38
Inverter.
Reads the alarm that is occurring page
4 Alarm Monitor  
in the Inverter. 10-39
Alarm History page
5 Reads the Inverter alarm history.  
Monitor 10-40
Saves the parameter data written
User Constant by executing Write User Constant page
6  
RAM Writing in the Inverter volatile memory to 10-40
enable the data.
Saves the parameter data written
User Constant
by executing Write User Constant page
7 EEPROM  
in the Inverter nonvolatile mem- 10-41
Writing
ory.
Inverter Operation
You can use this command to

Transmission freely set a MECHATROLINK-III page
8  
Reference command and send it through 10-42
the transmission line.
10
10-33
List of Subcommands
Subcommands assist the main commands. They can be executed at the same time as main
commands.
A distinct command code exists for each subcommand. Subcommands are executed by set-
ting the OW0A setting parameter to the command code of the subcommand to be used.
The following table lists the subcommands.
Subcommands compatible with MECHATROLINK-III (64-byte mode) and MECHATROLINK-III
(32-byte mode) are indicated with check marks ().
Refer to the pages given in the Reference Page Column for details on individual subcommands.
Com- MECHATROLINK- MECHATROLINK- Refer-
mand Name Description III III ence
Code (64-byte Mode) (32-byte Mode) Page
Nothing is executed.
When you do not want to exe- page
0 No Command  
cute a subcommand, set this 10-42
command code.
Sends a command to the
Inverter IO page
1 Inverter and monitors the  –
Control 10-43
Inverter.
Read User Reads the specified inverter page
2  –
Constant user constant from the Inverter. 10-45
Writes the specified inverter
Write User page
3 user constant in the Inverter  –
Constant 10-46
internal constant.
Reads out the alarm that is page
4 Alarm Monitor  –
occurring in the Inverter. 10-46
Alarm History Reads out the Inverter alarm page
5  –
Monitor history. 10-47
You can use this command to
Transmission freely set a MECHATROLINK-III page
8  –
Reference command and send it through 10-47
Read Fixed Reads out the set data of the page
9  
Parameters* specified fixed parameter. 10-48
* This is the subcommand to read out a fixed parameter in the SVC Function Module. This subcommand is not sent
through the MECHATROLINK transmission line.
10-34
10.3.2 Command Details
Main Command Details

Each command and its parameters are described below.
 No Command
 Description
No command to be executed
If you change the command to No Command during operation, the motor will stop for a SERVO-
PACK but it will not stop for an Inverter.
Important
Be aware that the operation for an Inverter is different from the operation for a SERVOPACK.
 Related Parameters
• Setting Parameters
Register No. Name Setting Range Remarks
OW08 Command 0 to 8 00: No Command
• Monitor Parameters
Setting
Register No. Name Remarks
Range
IW08 Command Response Code 0 to 8 00: No Command
Bit 0 (Command execution Always
flag) OFF
Bit 3 (Command error com- Always
IW09 Command Status Bit
pleted status) OFF
completed status) ON
M-III Inverter Command
IL2A Bit Inverter operating status
Status
IW2C M-III Command Status Bit Inverter command processing status
IW32 Inverter Alarm Code 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
retains the last data and continues operation. The MPE720 retains the last data for the monitor parame-
ters because I/O between the SVC Function Module and Inverter are stopped. The Status monitor
parameter, however, will be updated for any command being executed except Transmission Reference.
Inverter Operation
10
10-35
Setting
Range
OW01 Mode Settings 1 Bit −
OW08 Command 0 to 8 01: Inverter Drive Control
Output Data Option Selec-
OW0C Bit −
tion
OW0D Input Data Option Selection Bit −
OW10 Input Command Bit −
OW11 Speed Reference − −
OW12 Torque Reference − −
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
OW16 Terminal Output −
(OW0C), bit 3 is ON.
OW17 PID Target −
OW18 Pulse Train Output −
OW19 V/f Gain −
OW1B Command Selection −
Setting
Range
IL02 Warning Bit −
IL04 Alarm Bit −
IW08 Command Response Code 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
pleted status) command pro-
cessing
OFF during com-
mand execution,
and ON when
completed)
command execu-
tion is completed.
Input Data Option Selection
IW0D Bit −
Monitor
IW11 Output Frequency − −
IW12 Output Current − −
Enabled when Input Data Option Selection
IW13 Motor Speed (Option) −
(OW0D), bit 0 is ON.
IW14 Torque Reference (Option) −
IW15 Encoder Count PG1 −
10-36

Setting
Range
Frequency Reference Enabled when Input Data Option Selection
IW16 −
(Option) (OW0D), bit 3 is ON.
IW17 Analog Input A2 −
IW18 Main Bus Voltage (Option) −
IW19 Alarm Code −
IW1A Warning Code −
Multi-Function Output Termi- Enabled when Input Data Option Selection
IW1B −
nal (OW0D), bit 8 is ON.
IW1C Analog Input A3 −
IW1D Multi-Function Input Terminal −
(OW0D), bit A is ON.
IW1E Analog Input A1 −
(OW0D), bit B is ON.
IW1F Encoder Count PG2 −
(OW0D), bit C is ON.
IW20 Monitor data set in F6-23 −
(OW0D), bit D is ON.
(OW0D), bit E is ON.
M-III Inverter Command Sta-
tus
0 to
IW32 Inverter Alarm Code Inverter alarm code
FFFFH
 Read User Constant

 Description
Reads the specified user constant from the Inverter.
OW08 Command 0 to 8 02: Read User Constant
Inverter User Constant Num-
OW3C 0 to FFFFH −
ber
OW3D 1 to 4 −
ber Size
Inverter Operation
10
10-37
Setting
Range
IW08 Command Response Code 0 to 8 02: Read User Constant
Bit 0 (Command execution ON during execu-
flag) tion
ON when an error
cessing
OFF during execu-
Bit 8 (Command execution tion, and ON when
completed) execution is com-
pleted.
tus
IW3C 0 to FFFFH −
Number
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
 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 on page 10-40
OW08 Command 0 to 8 03: Write User Constant
OW3C Inverter User Constant Number 0 to FFFFH −
Inverter User Constant Number
OW3D 1 to 4 −
Size
OW3E Inverter User Constant Set Point 1 0 to 65535 −
OW3F Inverter User Constant Set Point 2 0 to 65535 −
OW40 Inverter User Constant Set Point 3 0 to 65535 −
OW41 Inverter User Constant Set Point 4 0 to 65535 −
10-38
Setting
Range
IW08 Command Response Code 0 to 8 03: Write User Constant
flag) tion
ON when an error
Bit 3 (Command error occurs during
completed status) command pro-
cessing
OFF during execu-
pleted.
tus
IW3C 0 to FFFFH −
ber
 Alarm Monitor
 Description
Reads the alarm that is occurring in the Inverter.
OW08 Command 0 to 8 04: Alarm Monitor
Inverter Alarm Monitor
OW32 0 Alarm monitor number
Number
Setting
Range
IW08 Command Response Code 0 to 8 04: Alarm Monitor
flag) tion
ON when an error
Inverter Operation
cessing
OFF during execu-
completed status) execution is com-
pleted.
Status
IW32 Inverter Alarm Code 0 to FFFFH The currently occurring alarm is read out. 10
10-39
 Alarm History Monitor

 Description
Reads the Inverter alarm history.
OW08 Command 0 to 8 05: Alarm History Monitor
Inverter Alarm Monitor
OW32 0 to 9 Alarm monitor number
Number
Setting
Range
IW08 Command Response Code 0 to 8 05: Alarm History Monitor
flag) tion
ON when an error
cessing
OFF during execu-
pleted.
Status
IW32 Inverter Alarm Code 0 to FFFFH The alarm history that is read out.
 User Constant RAM Writing

 Description
Saves the parameter data written by executing Write User Constant in the Inverter volatile
memory to enable the data.
OW08 Command 0 to 8 06: User Constant RAM Writing
10-40
Setting
Range
IW08 Command Response Code 0 to 8 06: User Constant RAM Writing
flag) tion
ON when an error
cessing
OFF during execu-
pleted.
Status
 User Constant EEPROM Writing

 Description
Saves the parameter data written by executing Write User Constant in the Inverter nonvolatile
memory.
OW08 Command 0 to 8 07: User Constant EEPROM Writing
Setting
Range
Command Response
IW08 0 to 8 07: User Constant EEPROM Writing
Code
flag) tion
ON when an error
cessing
OFF during execu-
Inverter Operation
pleted.
Status
10
10-41
 Transmission Reference
 Description
You can use this command to freely set a MECHATROLINK-III command and send it through
OW08 Command 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
Setting
Range
IW08 Command Response Code 0 to 8 08: Transmission Reference
flag) tion
Bit 3 (Command error com-
IW09 Command Status Bit Always OFF
pleted status)
Always OFF
completed)
IW60 0 to FFFFH The lower bytes contain the M-III command code.
Input Data 0
. .
. . − −
. .
IW6F 0 to FFFFH −
Input Data 15
Subcommand Details
Each subcommand and the related parameters are described below.
 No Command
 Description
No command to be executed.
OW0A Sub Command 0 to 65535 00: No Command
10-42
Setting
Range
IW0A Subcommand Response Code 0 to 65535 00: No Command
flag) OFF
Bit 3 (Command error com- Always
IW0B Subcommand Status Bit
pleted status) OFF
completed) OFF
IW31 M-III Sub Command Status Bit Inverter subcommand processing status
IW33 Auxiliary Inverter Alarm Code 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 Auxil-
iary 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.
Setting
Range
OW0A Sub Command 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
OW13 −
(Option) Option Selection (OW0E) is ON.
Analog Output Terminal 1 Enabled when bit 1 of Auxiliary Output Data
OW14 −
Output Option Selection (OW0E) is ON.
Analog Output Terminal 2 Enabled when bit 2 of Auxiliary Output Data
OW15 −
Output Option Selection (OW0E) is ON.
Enabled when bit 3 of Auxiliary Output Data
OW16 Terminal Output −
Option Selection (OW0E) is ON.
OW17 PID Target −
OW18 Pulse Train Output −
OW19 V/f Gain −
OW1B Command Selection −
Inverter Operation
10
10-43
Setting
Range
0 to
IW0A Subcommand Response Code 01: Inverter I/O Control
65535
flag) tion.
ON when an error
Bit 3 (Command error com- occurs during the
IW0B Subcommand Status Bit cessing
OFF during exe-
cution, and
always ON after
completed)
execution is com-
pleted.
Auxiliary Input Data Option
IW0F Bit −
Selection Monitor
Enabled when bit 0 of Auxiliary Input Data Option
IW13 Motor Speed (Option) −
Selection (OW0F) is ON.
IW14 Torque Reference (Option) −
IW15 Encoder Count PG1 −
IW16 Frequency Reference (Option) −
IW17 Analog Input A2 −
IW18 Main Bus Voltage (Option) −
IW19 Alarm Code −
IW1A Warning Code −
IW1B Multi-Function Output Terminal −
IW1C Analog Input A3 −
Enabled when bit A of Auxiliary Input Data Option
IW1D Multi-Function Input Terminal −
Enabled when bit B of Auxiliary Input Data Option
IW1E Analog Input A1 −
Enabled when bit C of Auxiliary Input Data Option
IW1F Encoder Count PG2 −
Enabled when bit D of Auxiliary Input Data Option
Enabled when bit E of Auxiliary Input Data Option
0 to
IW33 Auxiliary Inverter Alarm Code Inverter alarm code
FFFFH
10-44
 Read User Constant

 Description
Reads the specified inverter user constant from the Inverter.
OW0A Sub Command 0 to 65535 02: Read User Constant
OW42 Inverter User Constant Number 0 to FFFFH −
Inverter User Constant Number
OW43 1 to 4 −
Size
Setting
Range
IW0A Subcommand Response Code 0 to 65535 02: Read User Constant
flag) tion
ON when an error
cessing.
OFF during exe-
Bit 8 (Command execution cution, and ON
completed) when execution
is completed.
Auxiliary Inverter User Con-
IW42 0 to FFFFH −
stant Number
Auxiliary User Constant
IW44 0 to 65535 −
Reading Data 1
IW45 0 to 65535 −
Reading Data 2
IW46 0 to 65535 −
Reading Data 3
IW47 0 to 65535 −
Reading Data 4
Inverter Operation
10
10-45
 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 on page 10-40
OW0A Sub Command 0 to 65535 03: Write User Constant
OW42 0 to FFFFH −
Number
OW43 1 to 4 −
Number Size
OW44 0 to 65535 −
Set Point 1
OW45 0 to 65535 −
Set Point 2
OW46 0 to 65535 −
Set Point 3
OW47 0 to 65535 −
Set Point 4
Setting
Range
Subcommand Response
IW0A 0 to 65535 03: Write User Constant
Code
Bit 0 (Command execution ON during exe-
flag) cution
ON when an
Bit 3 (Command error com- error occurs
pleted status) during command
processing.
OFF during exe-
is completed.
Auxiliary Inverter User Con-
IW42 0 to FFFFH −
stant Number
 Alarm Monitor
 Description
Reads out the alarm that is occurring in the Inverter.
OW0A Sub Command 0 to 65535 04: Alarm Monitor
Auxiliary Inverter Alarm Monitor
OW33 0 Record number specification
Number
10-46
Setting
Range
Subcommand Response
IW0A 0 to 65535 04: Alarm Monitor
Code
flag) cution
ON when an
Bit 3 (Command error com- error occurs
pleted status) during command
processing.
OFF during exe-
is completed.
IW33 Auxiliary Inverter Alarm Code 0 to FFFFH The currently occurring alarm that is read out.
 Alarm History Monitor

 Description
Reads out the Inverter alarm history.
OW0A Sub Command 0 to 65535 05: Alarm History Monitor
Auxiliary Inverter Alarm Monitor
OW33 0 to 9 Record number specification
Number
Setting
Range
Subcommand Response
IW0A 0 to 65535 05: Alarm History Monitor
Code
flag) cution
ON when an
error occurs
during com-
pleted status
IW0B Subcommand Status Bit mand process-
ing.
OFF during exe-
is completed.
Inverter Operation
IW33 Auxiliary Inverter Alarm Code 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. 10
10-47
OW0A Sub Command 0 to 65535 08: Transmission Reference
Transmission Reference Output
OW70 0 to FFFFH Subcommand output data bytes 0 and 1
Data 16
. .
. . − −
. .
Transmission Reference Output
OW7F 0 to FFFFH −
Data 31
Setting
Range
IW0A Subcommand Response Code 0 to 65535 08: Transmission Reference
Bit 0 (Command execution ON during
flag) execution
IW0B Subcommand Status Bit Always OFF
pleted status)
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.
OW0A Sub Command 0 to 65535 09: Read Fixed Parameters
OW48 Fixed Parameter Number 0 to 63 Set the fixed parameter number.
Setting
Range
Subcommand Response
IW0A 0 to 65535 09: Read Fixed Parameters
Code
flag) tion
ON when an error
cessing.
OFF during exe-
is completed.
IL48 Fixed Parameter Monitor -231 to 231−1 −
10-48
10.3.3 Applicable Combinations of Main Commands and Subcommands
10.3.3 Applicable Combinations of Main Commands and Sub-

commands
The following table shows applicable combinations of commands and subcommands.
Read Fixed Parameters

Alarm History Monitor
Read User Constant
Write User Constant

Inverter I/O Control
Subcommand
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        
Note: 1. There are no restrictions on the combination of commands and subcommands for the SVC Func-
tion Module.
2. If the received main command and subcommand are incompatible, the Inverter will process the main
command first.
3. If a command that is incompatible with the command being processed is received, the command
being processed 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.
Inverter Operation
10
10-49
10.4 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 Operation) or Bit 1 (Reverse Opera-
tion). Even if the motor is stopped, Inverter operation is considered to be in progress if either of
Term 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 MP3000 while Inverter operation is in progress, the SVC
Function 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
when it has stopped, click the Setting Parameter Tab to change the tab page, set Command
(OW08) to No Command and then change bit D (Drive Permission) of Run Command Set-
ting (OW00) to 1 (ON).
Timing of Changes to MECHATROLINK Allocations

Changes to settings made in the MECHATROLINK Detail Definition Dialog Box for the SVC
Function Module cannot be saved while Inverter operation is in progress. Save changes made
on the MECHATROLINK Detail Definition Dialog Box 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 com-
mand 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 Command) also will not stop the motor.
Refer to the following section for the motor stopping methods.
Motor Stopping and Restarting Methods on page 10-51
Also, if you change the command, I/O between the SVC Function Module and Inverter will stop.
When that occurs, the monitor 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.
10-50
Motor Stopping and Restarting Methods

There are two ways to stop and restart the motor.
 Method 1
To stop the motor, set bit 0 (Forward RUN) and bit 1 (Reserve RUN) of Input Command
(OW10) to 0 (OFF) while the Inverter Drive Control command is being executed in Com-
mand (OW08).
To restart the motor, set bit 0 or bit 1 of OW10 to 1 (ON).
 Method 2
To stop the motor, set bit D (Drive Permission) of Run Command Setting (OW00) to 0
(OFF).
To restart the motor, set parameters using the following procedure.
1. Change Command (OW08) to NOP (No Command).
2. Set bit D (Drive Permission) of Run Command Setting (OW00) to 1 (ON).
3. Change Command (OW08) to the Inverter Drive Control command.
This concludes the procedure to restart the motor.
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 MP3000 in this mode.
Program Mode: Program Mode is used to set and autotune parameters. In Program Mode, the
Ready status in the Inverter is OFF and commands from the MP3000 are not acknowledged.
To confirm that the Inverter is ready, make sure that bit 6 (Inverter Ready) in M-III Inverter Com-
mand Status (IL2A) is 1 (ON) on the Monitor Parameter 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
10-51
Inverter Emergency Stopping and Restarting Methods

This section provides the procedures to perform an emergency stop (turning OFF the main cir-
cuit and control circuit power supplies and stopping operation commands) during Inverter
operation and the procedures 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)

Alarm Clear
(OW00 bit F)
Forward RUN or
Reverse RUN
(OW10 bit 0 or 1)
Main circuit
power supply
Device Warning
Occurrence
(IW2C bit 1)
Device Alarm Occurrence

(IW2C bit 0)
Inverter Ready
(IL2A bit 6)
Command Error
Completed Status
(IW09 bit 3)
10-52
 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.

Command Inverter Drive Control (= 1)
Inverter Drive Control (= 1) NOP (=0)
(OW08)
Change to NOP and then
turn OFF Drive Permission.
Drive Permission
(OW00 bit D)
Turn ON Drive Permission
during the NOP command.
Alarm Clear
(OW00 bit F)
Forward RUN or
Reverse RUN
(OW10 bit 0 or 1)
Main circuit
power supply
Device Warning
Occurrence
(IW2C bit 1)
Device Alarm
Occurrence
(IW2C bit 0)
Inverter Ready
(IL2A bit 6)
Operation Ready
(IW00 bit 0)
Command Error
Completed Status
Inverter Operation
(IW09 bit 3)
10
10-53
 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 on page 10-53, 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
Device Warning You cannot use

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
Operation Ready is being maintained, so Drive
(IW00 bit 0) Permission cannot be turned ON.
Command Error
Completed Status
(IW09 bit 3)
10-54
10.5 Setup Procedure

This section describes how to set up Inverters using the MPE720.

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 manual.
• 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
Parameter Name Description
Setting
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-
MECHATROLINK BUS Errors
F6-26 ET3 or SI-ET3/V. 2
Detected
Inverter Operation
10
10-55
10.5.2 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 MP3000.
When you execute self configuration, information on the Modules that are connected to the MP3000
is detected and the Inverter I/O registers are assigned in the SVC definition file. Refer to the following
manual for the procedure to execute self configuration.
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 Definition Method for the procedure.
 Manual Definition Method

1. Start the MPE720 on a computer that is connected to the MP3000.
2. In the Main Window of the MPE720, click Setup - Module configuration from the
Launcher, or the Module Configuration Icon on the My Tool View of the Start Tab Page.
The Module Configuration Definition Tab Page will be displayed.
10-56
The MECHATROLINK Communications Definition Dialog Box will be displayed.
The Link Assignment Tab Page will be displayed.

Inverter Operation
10
10-57
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.
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 SVC4 cell on the Module Configuration Definition Tab
Page.
10-58
9. Double-click the 1000Series INVERTER cell.
The Function List Dialog Box will be displayed.
10. Click the Monitor Parameter Icon.
The Setting/Monitor Parameter Tab Page will be displayed.
Inverter Operation
10
10-59
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 MP3000 and Inverter. Check
the connection of the MECHATROLINK-III communications cable and the settings on the MECHA-
TROLINK Communications Definition Tab Page.
Refer to the following section for details on the MECHATROLINK communications definitions.
7.2 MECHATROLINK Communications Settings on page 7-7
STEP 2: Set the Required Fixed Parameters

1. Display the Function List Dialog Box using steps 8 and 9 in the  Manual Definition
Method procedure for STEP 1.
2. Click the Fixed Parameter Icon.
The Fixed Parameter Tab Page will be displayed.
3. Set the required parameters in the setting column.
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
Important
will be restored to the default values when you restart the Inverter.
10-60
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 procedure for STEP 1.
2. Click the Setting Parameter Icon.

The Setting/Monitor Parameter Tab Page will be 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).
Note: If the status is 0 (OFF), confirm that a command is not being executed in the Command setting
Inverter Operation
parameter (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).
10
10-61
STEP 4: Execute the Inverter Operation Control Command

1. Double-click the setting column cell for Command (OW08) in the setting parame-
ters.
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> <Inverter Input>
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
Selection parameters.
10.5.3 I/O Options on page 10-64
10-62
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 sub-
command 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.
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
*1. This is the data that is input continually during execution of the Inverter Drive Control com-
Inverter Operation
mand.
*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
Control subcommand is being executed and the Auxiliary Input Data Option Selection parame-
ter (OW0F) is set to 1 (enable).
Note: The Inverter I/O Control subcommand is valid only for MECHATROLINK-III 64-byte Mode.
10
10-63
10.5.3 I/O Options
10.5.3 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 con-
trol.
• The Auxiliary Input Data Option Selection (OW0F) is set to 1 (enabled) during Inverter I/
O control for a subcommand.
Data of selected input options can be monitored by using the Input Data Option Selection Mon-
itor (IW0D) and Auxiliary Input Data Option Selection Monitor (IW0F) of the monitor-
ing 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 follow-
ing 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
10-64
10.5.3 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
10-65
10.6 Alarm and Warning Codes for Inverter
10.6.1 A1000

There are the following four types of inverter alarms and warnings for different detection loca-
tions and error contents.
Place the Error
Error Type Description
Occurred
Serious failure that can damage the inverter
Inverter Alarm Inverter
and machine
Alarm MECHATROLINK-III Command
Error and MECHATROLINK-III MECHATROLINK communications failure SI-ET3*
Communications Error
Incorrect operation or minor failure that will
Inverter Warning Inverter
not likely result in a serious situation.
Warning MECHATROLINK-III Command
MECHATROLINK communications error
Error and MECHATROLINK-III SI-ET3*
warning
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.
10.6.1 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
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
10-66
10.6.1 A1000

Name
(IW19*1/IW32*2) Display
0010H rH Braking Resistor Overheat
0011H to 0016H EF3 to EF8 External Fault (input terminal 3 to 8)
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
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
0041H FbH Excessive PID Feedback
0042H EF1 External Fault (input terminal S1)
0044H oL5 Mechanical Weakening Detection 1
0045H UL5 Mechanical Weakening Detection 2
0046H CoF Current Offset Fault
0049H dWFL DriveWorksEZ Fault
004AH dWF1 EEPROM Memory DriveWorksEZ Data Error
004DH voF Output Voltage Detection Fault
Inverter Operation
004EH rF Braking Resistor Fault

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
10
0060H UnbC Current Unbalance
10-67
10.6.1 A1000

Name
(IW19*1/IW32*2) Display
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
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 exe-
cuted.
10-68
10.6.1 A1000
Inverter Warnings
Warning Code Digital Operator
Name
(IW1A*1/IW32*2) Display
– PASS MEMOBUS/Modbus Comm. Test Mode Complete
– CrST Cannot Reset
0001H Uv Undervoltage
0002H ov DC Bus Overvoltage
0004H oH2 Drive Overheat Warning
0005H oL3 Overtorque 1
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
0011H dEv
PM Open Loop Vector Control Mode without PG)
0012H PGo PG Disconnect (for Control Mode with PG)
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
MEMOBUS/Modbus Communication Test Mode
0020H SE
Error
0022H oH3 Motor Overheat
002AH dnE Drive Disabled
002BH PGoH PG Hardware Fault (when using PG-X3)
0032H AEr Station Address Setting Error (MECHATROLINK)
0033H CyC MECHATROLINK Trans. Cycle Setting Error
0034H HCA Current Alarm
0035H LT-1 Cooling Fan Maintenance Time
0036H LT-2 Capacitor Maintenance Time
003AH EF2 External Fault (input terminal S2)
003BH HbbF
Safe Disable Signal Input
003CH Hbb
Inverter Operation
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
10
0048H oH5 Motor Overheat (NTC Input)
0049H dWAL DriveWorksEZ Fault
004DH THo Thermistor Disconnect
10-69
10.6.2 V1000

• When the Inverter Drive Control command is executed when bit 7 (Warning code) of Input Data Option Selec-
tion (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 Command Errors
Code
Type Description
(IW2C Bits 8 to B)
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
 MECHATROLINK-III Communications Errors

Code
Type Description
(IW2C Bits C to F)
1H Frame Check Sequence (FCS) error
Warnings 2H Command data not received
3H Synchronous frame not received
9H Command data not received
Alarms AH Synchronous frame not received
BH Synchronization interval error
CH WDT error
10.6.2 V1000
Inverter Alarms
Name
(IW19*1/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
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
10-70
10.6.2 V1000

Name
(IW19*1/IW32*2) Display
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)
0025H CF Control Fault
0027H EF0 Option External Fault
002AH UL4 Undertorque Detection 2
002BH oL7 High Slip Braking oL
0036H LF2 Current Imbalance
0037H STo Pull-Out Detection
003BH SEr Too Many Speed Search Restarts
0044H oL5 Mechanical Weakening Detection 1
0045H UL5 Mechanical Weakening Detection 2
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
Inverter Operation
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
10
Clock Fault
10-71
10.6.2 V1000

Name
(IW19*1/IW32*2) Display
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)
• 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
*2. You can monitor the current alarm codes when the Alarm Monitor or Alarm History Monitor command is exe-
cuted.
Inverter Warnings
Name
– CrST Can Not Reset
– PASS MEMOBUS/Modbus Test Mode Complete
0001H Uv Undervoltage
0004H oH2 Drive Overheat
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)
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
002AH dnE Drive Disabled
0032H AEr Station Address Setting Error (MECHATROLINK)
0033H CyC MECHATROLINK Trans. Cycle Setting Error
0034H HCA Current Alarm
10-72
10.6.2 V1000

Name
0035H LT-1 Cooling Fan Maintenance Alarm
0036H LT-2 Capacitor Maintenance Alarm
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
• When the Inverter Drive Control command is executed when bit 7 (Warning code) of Input Data Option Selec-
tion (OW0D) is ON
• When the Inverter I/O Control subcommand is executed when bit 7 (Warning code) of Auxiliary Input Data
*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 Command Errors
Code
Type Description
(IW2C Bits 8 to B)
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
 MECHATROLINK-III Communications Errors

Code
Type Description
(IW2C Bits C to F)
Warnings 2H Command data not received
3H Synchronous frame not received
9H Command data not received
Alarms AH Synchronous frame not received
Inverter Operation
BH Synchronization interval error

CH WDT error
10
10-73
Appendices
11
The appendices provide supplemental information related
to motion control.
11.1 Control Block Diagrams . . . . . . . . . . . . . . 11-2

11.1.1 Control Block Diagram for Position Control . . . . 11-2
11.1.2 Control Block Diagram for Phase Control . . . . . 11-4
11.1.3 Control Block Diagram for Torque Control . . . . . 11-6
11.1.4 Control Block Diagram for Speed Control . . . . . 11-8
11.2 System Registers . . . . . . . . . . . . . . . . . . 11-10

11.2.1 System Service Registers . . . . . . . . . . . . . . . . 11-10
11.2.2 Scan Execution Status and Calendar . . . . . . . 11-12
11.2.3 System Program Software Numbers
and Remaining Program Memory Capacity . . . 11-12
11.3 MECHATROLINK-III I/O Module Settings . . . 11-13

11.3.1 Link Assignment Tab Page Settings . . . . . . . . 11-13
11.3.2 I/O Register Configuration . . . . . . . . . . . . . . . 11-14
11.3.3 I/O Commands . . . . . . . . . . . . . . . . . . . . . . . . 11-15
11.3.4 I/O Command Details . . . . . . . . . . . . . . . . . . . 11-16
11.3.5 Command Control . . . . . . . . . . . . . . . . . . . . . . 11-32
11.3.6 Master Status . . . . . . . . . . . . . . . . . . . . . . . . . 11-32
11.3.7 Command Status . . . . . . . . . . . . . . . . . . . . . . 11-33
11.3.8 CPU STOP Operation . . . . . . . . . . . . . . . . . . . 11-35
11.4 Setting Fixed Parameters According to Encoder Type and Axis Type . . 11-36
11.5 Common Parameters and SERVOPACK Parameters . . 11-38
11.6 Terminology . . . . . . . . . . . . . . . . . . . . . . . 11-40

11.1 Control Block Diagrams
11.1.1 Control Block Diagram for Position Control

This section uses block diagrams to show the relation between motion control and motion
parameters.

The following diagram shows the relationships between the control block and motion parame-
ters for position control.
MP3000
OW00 Run Command Settings

Operation Settings
OW01 Mode Settings 1

OW02 Mode Settings 2
OW03 Function Settings 1
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 gear Σ
OL22 Excessive Deviation Detection Value
INTERPOLATE compensation
OW26 Positioning Completion Check Time p

δp
OW31 Speed Compensation
ts t
Acceleration/
OL0C Torque/Force Reference Setting

Deceleration
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
OW3C Zero Point Return Method
(ladder program)
Return
Origin
OW3D Zero Point Position Output Width

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

Feed
OL44 STEP Travel Distance conversion

OL46 External Positioning Final Travel Distance OL0C Torque/force reference unit
conversion
OL14
Coordinates
OL48 Zero Point Position Offset in Machine Coordinate System

OL4A Working Coordinate System Offset
OL4C Number of POSMAX Turns Preset Data
Information
Motion Command Operation
IW00 RUN Status

IL02 Warnings
IL04 Alarms
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
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)
IL16 Machine Coordinate System Feedback Position (APOS) POSMAX processing Electronic gear
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
IL40 Feedback Speed

IL42 Torque/Force Reference Monitor
11-2
Servo Section or SERVOPACK
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
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
Analog monitor value
MPOS
A
APOS B
Counter PG
A
LPOS Counter
B
Latch
signal
Appendices
11
11-3
11.1.2 Control Block Diagram for Phase Control

ters for phase control.
MP3000
Operation Settings
OW00 Run Command Settings

OW08 Motion Commands Phase reference generation when
OW09 Motion Command Control Flags 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 from reference
Speed/Position References
OW26 Positioning Completion Check Time 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 scan units processing Compensation Type
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 Command Status

Motion
IW09
IW0A Motion Subcommand Response Code
IW0B Motion Subcommand Status
POSMAX processing Σ
IW0C Position Management Status
IL0E Machine Coordinate System Target Position (TPOS)
Machine Coordinate System Calculated Position (CPOS)
Information
IL10
Position
IL12 Machine Coordinate System Reference Position (MPOS) Unit conversion

POSMAX processing from pulses
IL14 32-bit DPOS (DPOS) to
IL16 Machine Coordinate System Feedback Position (APOS) reference units
IL18 Machine Coordinate System Latch Position (LPOS)
Position Deviation (PERR) Unit conversion
IL1A from pulses
IL1E Number of POSMAX Turns POSMAX processing to
reference units
IW2C M-III Command Status
IW2D SERVOPACK Alarm Code Unit conversion +
from pulses
SERVOPACK
IW2F SERVOPACK User Monitor Information

Information
to -
IL30 SERVOPACK User Monitor 2 reference units
IL40 Feedback Speed
IL42 Torque/Force Reference Monitor
11-4
Speed Feedforward
S
Compensation*
Differ- B
ential Pn109 Pn10A
A
Position Loop Gain Speed Loop Gain
(OW30)
Kp Kv
B Vref Current
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)
TRQ
MPOS
A
APOS Counter PG
B
A
LPOS B
Counter
Latch signal
* Set 0 to use phase references.

Appendices
11
11-5
11.1.3 Control Block Diagram for Torque Control

ters for torque control.
MP3000
OW00 Run Command Settings

Operation
OW03 Function Settings 1

Settings

OW09 Motion Command Control Flags
References
OL0C Torque/Force Reference Setting

Torque
OW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
Motion Command
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
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40 Feedback Speed

IL42 Torque/Force Reference Monitor
11-6
Torque reference T-REF Current M

processing loop
Speed limit V-REF

processing
TRQ
MPOS
A
APOS Counter PG
A B
LPOS Counter
B
Latch
signal Appendices
11
11-7
11.1.4 Control Block Diagram for Speed Control

ters for speed control.
MP3000
OW00 Run Command Settings

OW03 Function Settings 1
Operation
Settings
OW09 Motion Command Control Flags

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
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40 Feedback Speed

IL42 Torque/Force Reference Monitor
11-8
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
MPOS
A
APOS Counter PG
A B
LPOS Counter
B
Latch
signal Appendices
11
11-9
11.2 System Registers
11.2.1 System Service Registers

This section provides tables of the system registers.

This section provides tables of the system service registers.
Shared by All Drawings

Name Register Address Description
Reserved SB000000 Do not use.
This register is ON for only the first scan after
First High-speed Scan SB000001
the high-speed scan starts.
This register is ON for only the first scan after
First Low-speed Scan SB000003
the low-speed scan starts.
Always ON SB000004 Always ON (= 1).
Reserved SB000005 to SB00000F Do not use.
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
2.0 s 2.0 s
0.5 s 0.5 s
0.5-s Sampling Relay SB000014

1 scan
1.0 s 1.0 s
1 scan
2.0 s 2.0 s

1 scan
11-10

Register
Name Description
Address
60.0 s 60.0 s
1 scan
1.0 s
1.0-s After Start of Scan Relay SB000018
2.0 s
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
1.0 s 1.0 s
2.0 s 2.0 s
0.5 s 0.5 s

1 scan
1.0 s 1.0 s

1 scan
2.0 s 2.0 s

1 scan
60.0 s 60.0 s

Appendices
1 scan
1.0 s
11-11
11.2.2 Scan Execution Status and Calendar

Register
Name Description
Address
2.0 s
5.0 s
5.0-s After Start of Scan Relay SB00003A
11.2.2 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 This is the maximum value of the high-speed scan (0.1
SW00006
Value ms).
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 This is the maximum value of the low-speed scan (0.1
SW00012
Value 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 seconds: 59 (BCD)
Calendar: Day of Week SW00019 0 to 6: Sun. to Sat.
11.2.3 System Program Software Numbers and Remaining Pro-

gram Memory Capacity
The following table lists the registers that give the system program software numbers and
remaining program memory capacity.
Register
Name Description
Address
System Program Software Number SW00020 S ( is replaced with the BCD value.)
SW00021
System Number to Not used.
SW00025
Remaining Program Memory Capacity SL00026 Bytes
Total Memory Capacity SL00028 Bytes
11-12
11.3 MECHATROLINK-III I/O Module Settings
11.3.1 Link Assignment Tab Page 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 Commu-
nications (JEPMC-MTA2900-E, JEPMC-MTA2910-E, JEPMC-MTP2900-E, and
JEPMC-MTP2910-E).
Important Refer to the following manual for details.
MECHATROLINK-III Compatible I/O Module User’s Manual (Manual No.: SIEP C880781 04)
11.3.1 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
16, 32, 48,
JAPMC-MC2320-E 8, 16, 24, 32 8, 16, 24, 32 
64
16, 32, 48,
SVC32 8, 16, 24, 32 8, 16, 24, 32 
64
Yaskawa Electric JEPMC-MTD2310-E Standard 16 8 8 
co. I/O
JEPMC-MTA2900-E 32 16 16 
JEPMC-MTA2910-E 16 8 8 
JEPMC-MTP2900-E 64 32 32 
JEPMC-MTP2910-E 64 32 32 
Appendices
11
11-13
11.3.2 I/O Register Configuration
11.3.2 I/O Register Configuration

The following figure shows the I/O register configuration when a MECHATROLINK-III I/O Mod-
ule is connected.
7 6 5 4 3 2 1 0 7 6 5 4 3 2 1 0
OW I/O Command IW I/O Command Response
Not used. Master Status
OW + 1 IW + 1
OW + 2 Output Data 1 Low IW + 2 Input Data 1 Low

High High
High High
High High
High High
High High
High High
• •
• •
• •
Set the I/O Command, Command Control, and Output Data output registers during the same
scan.
Important
11-14
11.3.3 I/O Commands
11.3.3 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 Com-
0 Data I/O Performs data I/O operations with the I/O Module. mand (page 11-16)
Read Alarms/Warn- Reads the alarm/warning information from the I/O Mod- Read Alarms/
1 Warnings Com-
ings ule. mand (page 11-17)
Clear Alarms/
2 Clear Alarms/Warnings Clears an alarm or warning from the I/O Module. Warnings Com-
mand (page 11-19)
Read Parameter
3 Read Parameter Reads an I/O Module parameter. Command (page
11-20)
Write Parameter
4 Write Parameter Changes an I/O Module parameter. Command (page
11-21)
Read Non-volatile Reads an I/O Module parameter from non-volatile mem- Read Non-volatile
5 Parameter Com-
Parameter ory. mand (page 11-23)
Write Non-volatile Changes an I/O Module parameter in non-volatile mem- Write Non-volatile
6 Parameter Com-
Parameter ory. mand (page 11-24)
Read Memory
7 Read Memory Reads data in the internal memory of the I/O Module. Command (page
11-26)
Write Memory
8 Write Memory Changes data in the internal memory of the I/O Module. Command (page
11-28)
9 to 14 Reserved. Do not set these codes. −
Re-establishes communications with the I/O Module. Reset Communi-
Reset Communica-
15 Communications are disconnected, and a new connec- cations Command
tions (page 11-30)
tion is established.
Resets the communications for the entire network.
Execute this command to ensure that proper cyclic
communications are performed if entering an active net- Reset Network
16 Reset Network work fails. Command (page
This affects communications with all slave stations on 11-31)
the network. Stop all commands from the application
before you reset the network.
Appendices
11
11-15
11.3.4 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
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)
OW + 1 IW + 1

High High
High High
High High
High High
High High
High High
• •
• •
• •
 Execution and Operating Procedure

I/O command execution must be com-
1 Command Status bit 2 (CMDRDY) = 1
pleted.
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)
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.
11-16
Read Alarms/Warnings Command

Reads the alarm/warning information from the I/O Module.
 Command Format
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)
OW + 1 IW + 1
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.
 ALM_INDEX: Alarm Index

0 to 11: Specifies the order of occurrence.
Specify 0 to read the latest alarm information.
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.

Appendices
If an ALM_INDEX is specified for which no alarm or warning has occurred, the contents
of ALM_DATA will be all 0.
11
11-17

pleted.
2. Set the I/O Command register to 1 to execute the Read Alarms/Warnings command.

1 I/O Command Response register = 1 (Read Alarms/Warnings)
3 ALM_RD_MOD is the same in the command and response.
4 ALM_INDEX is the same in the command and response.
stop processing.
11-18
Clear Alarms/Warnings Command

Clears an alarm or warning from the I/O Module.
 Command Format
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)
OW + 1 IW + 1
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.

pleted.
2. Set the I/O Command register to 2 to execute the Clear Alarms/Warnings command.

1 I/O Command Response register = 2 (Clear Alarms/Warnings)
3 ALM_CLR_MOD is the same in the command and response.
Appendices
1. If the command is not completed within 5 seconds after it is executed, bit 0 in the Master Sta-
tus register 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
Important details with the application and perform the stop processing. The system will not perform stop
processing.
11
11-19
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
specifications of the I/O Module for details.
Important
 Command Format
7 6 5 4 3 2 1 0 7 6 5 4 3 2 1 0
OW Read Parameter (= 3) IW Read Parameter (= 3)
OW + 1 IW + 1
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
• •
• •
• •
 NO: Parameter Number
 SIZE: Parameter Size (Bytes)
 PARAMETER: Parameter Data

pleted.
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.
11-20

1 I/O Command Response register = 3 (Read Parameter)
3 NO must be the same in the command and response.
4 SIZE must be the same in the command and response.
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
Important
 Command Format
7 6 5 4 3 2 1 0 7 6 5 4 3 2 1 0
OW Write Parameter (= 4) IW Write Parameter (= 4)
OW + 1 IW + 1
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
• •
• •
• •
Appendices
11
11-21

pleted.

• 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 Parame-
ter command.
3. Set the I/O Command register to 4 to execute the Write Parameter command.

1 I/O Command Response register = 4 (Write Parameter)
5 PARAMETER must be the same in the command and response.
processing.
11-22
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.
Important
 Command Format
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)
OW + 1 IW + 1
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
• •
• •
• •

pleted.

Appendices
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 com-
mand.
3. Set the I/O Command register to 5 to execute the Read Non-volatile Parameter com- 11
mand.
11-23

1 I/O Command Response register = 5 (Read Non-volatile Parameter)
processing.
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.
Important
 Command Format
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)
OW + 1 IW + 1
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
• •
• •
• •
11-24

pleted.

• 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-volatile Parameter command.
3. Set the I/O Command register to 6 to execute the Write Non-volatile Parameter com-
mand.

1 I/O Command Response register = 6 (Write Non-volatile Parameter)
stop processing.
Appendices
11
11-25
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
Important
 Command Format
7 6 5 4 3 2 1 0 7 6 5 4 3 2 1 0
OW Read Memory (= 7) IW Read Memory (= 7)
OW + 1 IW + 1
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
High High
OW + 6 IW + 6 DATA Low
High
OW + 7 IW + 7 DATA Low
High
• •
• •
• •
 MODE/DATA_TYPE: Mode/Data Type

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.
• DATA_TYPE: Data Type
1: Byte data
2: Short data
3: Long data
4: Longlong data
11-26
 SIZE: Read Data Size
 ADDRESS: First Read Address
 DATA: Data

pleted.

• MODE/DATA_TYPE (Mode/Data Type)
• SIZE (Read Data Size)
• ADDRESS (First Read Address)
Setting Precautions
Make any necessary changes to MODE/DATA_TYPE (Mode/Data Type), SIZE (Read Data Size), or
ADDRESS (First Read 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 Memory command.
3. Set the I/O Command register to 7 to execute the Read Memory command.

1 I/O Command Response register = 7 (Read Memory)
3 MODE/DATA_TYPE must be the same in the command and response.
5 ADDRESS is the same in the command and response.
processing.
Appendices
11
11-27
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
Important
 Command Format
7 6 5 4 3 2 1 0 7 6 5 4 3 2 1 0
OW Write Memory (= 8) IW Write Memory (= 8)
OW + 1 IW + 1
OW + 2 Not used. IW + 2 Not used.

MODE/DATA_TYPE MODE/DATA_TYPE
OW + 3 IW + 3
SIZE SIZE

High High
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

MODE DATA_TYPE
• MODE: Write Mode
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.
• DATA_TYPE: Data Type
1: Byte data
2: Short data
3: Long data
4: Longlong data
11-28
 SIZE: Write Data Size
 ADDRESS: First Write Address
 DATA: Data

pleted.

• MODE/DATA_TYPE (Mode/Data Type)
• SIZE (Write Data Size)
• ADDRESS (First Write Address)
• DATA (Data)
Setting Precautions
Make any necessary changes to MODE/DATA_TYPE (Mode/Data Type), SIZE (Write Data Size),
ADDRESS (First Write 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
execution of the Write Memory command.
3. Set the I/O Command register to 8 to execute the Write Memory command.

1 I/O Command Response register = 8 (Write Memory)
6 DATA must be the same in the command and response.
processing.
Appendices
11
11-29
Reset Communications Command

Re-establishes communications with the I/O Module. Communications are disconnected, and
a new connection is established.
 Command Format
7 6 5 4 3 2 1 0 7 6 5 4 3 2 1 0
Reset Communications Reset Communications
OW IW
(= 15) (= 15)
OW + 1 IW + 1
OW + 2 IW + 2
OW + 3 IW + 3
OW + 4 IW + 4
OW + 5 IW + 5
OW + 6 IW + 6
OW + 7 IW + 7
• •
• •
• •

Set the I/O Command register to 15 to execute the Reset Communications command.

1 I/O Command Response register = 15 (Reset Communications)
processing.
11-30
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
7 6 5 4 3 2 1 0 7 6 5 4 3 2 1 0
OW Reset Network (= 16) IW Reset Network (= 16)
OW + 1 IW + 1
OW + 2 IW + 2
OW + 3 IW + 3
OW + 4 IW + 4
OW + 5 IW + 5
OW + 6 IW + 6
OW + 7 IW + 7
• •
• •
• •

1. Confirm that all application commands are stopped.
2. Set the I/O Command register to 16 to execute the Reset Network command.

1 I/O Command Response register = 16 (Reset Network)
processing.
Appendices
11
11-31
11.3.5 Command Control
11.3.5 Command Control

This section describes the details of the Command Control register.
Reserve ALM_CLR Reserve

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.
11.3.6 Master Status

This section describes the details of the Master Status register.
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.
• Description
This bit shows when the I/O Module fails to initialize cyclic communications.
Clear the alarm to restore operation.
 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.
11-32
11.3.7 Command Status

This section describes the details of the Command Status register.
ALM_CLR
SYNC SYNCRDY SBUSY Reserved CMDRDY D_WAR D_ALM
_CMP

COMM_ALM CMD_ALM
 D_ALM
• Definition
1: Device alarm
• 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
• 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.
 CMDRDY
• Definition
1: Commands can be received.
• 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 sta-
tus is 0. During this time, no new I/O commands can be executed. However, the Reset Com-
munications 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 warning.
 ALM_CLR_CMP
• Definition
Appendices
1: ALM_CLR completed.
• 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 11
to 0.
11-33
 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.
 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 Module.
Code Meaning Description
− 0 No alarm −
2 −
−
Warnings
3 Indicates that a warning has occurred. Opera-

4 − tion continues under the specified value or it is
5 − clamped to the maximum/minimum value.
6 −
7 −
8 Unsupported command received.
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 −
11-34
11.3.8 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 indepen-
dent 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
Warnings
3 Synchronous frame not received.

These warnings occur when even one error is
4 −
detected.
5 −
6 −
7 −
8 FCS error
A Synchronous frame not received.
These alarms occur when an error is detected
Alarms
B Synchronization interval error the specified number of times in a row.

C WDT error When this occurs, communications are no lon-
ger synchronized.
D −
E −
F −
11.3.8 CPU STOP Operation

When a CPU STOP occurs, all output data is cleared to zeroes and input data is not updated.
Appendices
11
11-35
11.4 Setting Fixed Parameters According to Encoder Type and Axis Type
The method for setting or changing the coordinate system origin 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.
Encoder Fixed Parameter

Motor Type
START Type Set Value
Absolute NO Infinite-length NO Incremental No. 1: Bit 0 = 0

Any
encoder? axis? encoder (finite-length)
YES YES
Incremental No. 1: Bit 0 = 1

Any
encoder (infinite-length)
Absolute Rotary No. 1: Bit 0 = 0

Infinite-length NO DD motor? NO
encoder motor (finite-length)
axis?
YES YES
No. 1: Bit 0 = 1
(infinite-length)
+
Absolute Direct drive No. 1: Bit 9 = 1
encoder motor (Enable Simple
YES Absolute Infinite
DD motor?
Axis Position
Management)
NO
No. 1: Bit 0 = 1
(infinite-length)
+
Simple absolute YES encoder motor (Enable Simple
management OK? Absolute Infinite
Axis Position
NO
Management)
No. 1: Bit 0 = 1
(infinite-length)
+
encoder motor (Disable Simple
Absolute Infinite
Axis Position
Management)
11-36
Precautions When Turning the Method for Changing

Setting Method for the
Power Supply OFF and ON Specification Method the Coordinate Sys-
Coordinate System Origin
Again tem Origin
Both absolute value speci-
fications and relative value
The coordinate system An origin return operation must specifications (incremen-
origin is set by the origin be performed after the power tal addition method) can
return operation and the supply is turned ON. If an origin be used. Which method is
Zero Point Position Offset return operation is not per- used depends on the set-
(OL48). How the ori- formed after the power supply is ting of bit 5 in
gin is determined during turned ON, the position when OW1C.
the origin return operation the power supply is turned ON 31 31
depends on the operating becomes the origin. In this case, Setting range: -2 to 2
pattern. (Refer to the rele- software limits are not enabled − 1
vant SERVOPACK manual until the Set Zero Point com- Relative value specifica-
for details.) mand is executed. tions (incremental addi-
tion method) are used.
The origin is set according Both absolute value speci-
to the OL48 setting No particular processing is nec- fication and relative value If OL48 is
parameter (Zero Point essary because the encoder specification (incremental changed, the coordi-
Position Offset in Machine stores the position information addition method) can be nate system origin is
Coordinate System) of the even when the power supply to used. Which method is also changed because
MP3000 and the origin of the MP3000 is turned OFF. How- used depends on the set- the origin offset value
the encoder (incremental ever, the Set Zero Point com- ting of bit 5 in for OL48 is
pulses). The origin of the mand must be executed to use OW1C. always calculated
encoder is set by resetting software limits. Setting range: -231 to 231 automatically.
the encoder. −1 To set the current
The origin is set according The encoder stores the position position as the origin,
to the OL48 setting information for within one revolu- calculate OL48 -
parameter (Zero Point tion (initial incremental pulse) IL10 and set
Position Offset in Machine even when the power supply to that value for
Relative value specifica- OL48.
Coordinate System) of the the MP3000 is turned OFF, but
tions (incremental addi-
MP3000 and the origin of does not store the rotational
the encoder (incremental data (multiturn data).
pulses). The origin of the The Set Zero Point command
encoder is set by resetting must be executed after the
the encoder. power supply is turned ON.
The origin is set according No particular processing is nec-
to the OL48 setting essary because the encoder
parameter (Zero Point stores the position information
Position Offset in Machine even when the power supply to
Relative value specifica-
Coordinate System) of the the MP3000 is turned OFF. How-
tions (incremental addi-
MP3000 and the origin of ever, the Set Zero Point com-
the encoder (incremental mand must be executed after
pulses). The origin of the the power supply is turned ON.
encoder is set by resetting (An alarm occurs if this operation
the encoder. is not performed.)
When the power supply is turned
ON, a request must be made to
set up the coordinate system The coordinate system
(set bit 7 in OW00 to 1 is reset when the
The coordinate system
(ON)). The current coordinate ZSET (Set Zero Point)
origin is set based on the
system must also be backed up Relative value specifica- command is executed.
origin of the encoder
during normal operation. Both of tions (incremental addi- Set the coordinate
(incremental pulse) and
these operations are performed tion method) are used. value you want in
the execution of the Set
in a ladder program. Refer to the OL48, then exe-
Zero Point command.
following section for details. cute the Set Zero
Creating Ladder Programs for Point command.
Infinite Axis Position Manage-
ment (page 5-40)
Appendices
11
11-37
11.5 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 Type (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 (Do not change.)
28 PnA50 Reverse Software Limit
29 PnA52 Reserved (Do not change.)
41 PnA82 Speed Unit
Speed Base Unit
42 PnA84 (Set the value of n from the following formula: Speed unit selec-
tion (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 selec-
tion (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
64 PnAC8 Feed Forward Compensation
65 PnACA Position Loop Integral Time Constant
66 PnACC In-position Range
67 PnACE Near-position Range
81 PnB02 Exponential Acceleration/Deceleration Time Constant
82 PnB04 Movement Average Time
83 PnB06 Final Travel for External Input Positioning
11-38

Common Common Parameter
Name
Parameter No. No. for SERVOPACK
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 Select 1
88 PnB10 Monitor Select 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)
Appendices
11
11-39
11.6 Terminology
11.6 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 origin pulse. Some manufactures may also call this type of signal phase Z or the reference.
 POSMAX
This is the infinite-length axis reset position.
Fixed Parameter Details (page 3-27)
 Encoder Position
 Override
For the MP3000, this term is used to mean changing the setting 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 MP3000 manages positions in the machine coordinate
system.
For systems that use an incremental encoder or that use an absolute encoder as the incremen-
tal encoder, the machine coordinate system is automatically set by the first origin return opera-
tion after the power supply 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 origin return is connected to the Origin
Return Deceleration Switch Signal (/DEC).
 Command Execution
A motion command is executed when a command code is set to the Motion Command param-
eter register (OW08).
 Absolute Position Calculation

You can use the following formula to find the absolute position.
Absolute position (P) = N × RP + PO
N: Number of rotations from the absolute reference
position (multi-turn data) Data maintained by the abso-
PO: Absolute reference position lute encoder
(initial incremental pulses)
RP: Number of feedback pulses per motor rotation Constant determined by the
number of bits supported by
the Servomotor
11-40
11.6 Terminology
 Absolute Encoders
An absolute encoder outputs the absolute position (position data for the rotational angle) from
a reference position (origin of the encoder).
The absolute encoder uses a battery connected to the battery terminals of the SERVOPACK to
maintain 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 rotation and a counter that is used to count the number of rotations. After automatic oper-
ation starts, the absolute encoder operates in the same way as an incremental encoder.
 Incremental Encoders
Incremental encoders output pulses while the control object is in motion. Position data is not
retained.
 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.
5.1.4 Position References on page 5-6
 Absolute Value Data

There are two types of absolute value data stored in the absolute encoder: the absolute refer-
ence 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 absolute 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.
5.1.4 Position References on page 5-6
 Distribution
Distribution is the process in which a slave SERVOPACK outputs a reference from the MP3000
to a Servomotor.
 Pulse Position
The pulse position is the position information managed by the MP3000 converted into the num-
ber of pulses.
 Report
“Report” is used for details that are automatically transferred by the system in the CPU without
any action by the user.
 Infinite-length Axis
Appendices
This is an axis that uses infinite-length position control and resets position data every revolu-
tion.
5.1.3 Axis Selection on page 5-5
11
11-41
11.6 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.
 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.
 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.
 Working Coordinate System

This is the coordinate system that is used in motion programs. It is called the working coordi-
nate system to distinguish it from the machine coordinate system. The working coordinate sys-
tem can be set by executing the POS (Set Current Position) instruction in a motion program.
MP3000 Series Motion Programming Manual (Manual No.: SIEP C880725 14)
11-42
Index
Index B
ball screw - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-4
Bias Speed for Indexed Deceleration/Acceleration
Filter - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-59
Numerics BUSY - - - - - - - - - - - - - - - - - - - - - - - - - 3-76, 3-77
32-bit DPOS - - - - - - - - - - - - - - - - - - - - - - - - -3-80
C
A C Pulse - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-29
ABSLDE - - - - - - - - - - - - - - - - - - - - - - - - - - - -3-79 C Pulse Only - - - - - - - - - - - - - - - - - - - - - - - - - 4-30
absolute encoder cascade connection - - - - - - - - - - - - - - - - - - - - - 2-17
programming example for resetting - - - - - - - - - -5-21
cascade connections - - - - - - - - - - - - - - - - - - - - 2-14
resetting - - - - - - - - - - - - - - - - - - - - - - - - - -5-20
Change Acceleration Time - - - - - - - - - - - - - - - - - 4-63
setting up (initialization) - - - - - - - - - - - - - - - - -5-18
Change Deceleration Time - - - - - - - - - - - - - - - - - 4-65
system startup - - - - - - - - - - - - - - - - - - - - - -5-18
Change Feedforward - - - - - - - - - - - - - - - - - - - - 4-75
Absolute Infinite-length Position Information Load
Completed - - - - - - - - - - - - - - - - - - - - - - - - - -3-79 Change Filter Time Constant - - - - - - - - - - - - - - - - 4-67
Absolute Infinite-length Position Information Load Change Filter Type - - - - - - - - - - - - - - - - - - - - - - 4-69
Request - - - - - - - - - - - - - - - - - - - - - - - - - - - -3-37 Change Position Loop Gain - - - - - - - - - - - - - - - - 4-73
absolute value specification method - - - - - - - - - - - 11-41 Change Position Loop Integral Time Constant - - - - - 4-104
ACC - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -4-63 Change Speed Loop Gain - - - - - - - - - - - - - - - - - 4-71
acceleration/deceleration CHG_FILTER - - - - - - - - - - - - - - - - - - - - - - - - - 4-69
Acceleration/Deceleration Rate Unit Selection - - - -3-40 CMDRDY - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-83
filter settings - - - - - - - - - - - - - - - - - - - - - - -5-14 commands
settings - - - - - - - - - - - - - - - - - - - - - - - - - -5-11 Cancel Command - - - - - - - - - - - - - - - - - - - - 3-45
specifying rates - - - - - - - - - - - - - - - - - - - - - -3-58 Command Control register - - - - - - - - - - - - - - 11-32
Address Setting - - - - - - - - - - - - - - - - - - - - - - - -3-66 Command Error End - - - - - - - - - - - - - - 3-76, 3-77
Alarm Clear Execution Completed - - - - - - - - - - - - -3-83 Command Execution Completed - - - - - - - - - - - 3-77
alarms Command Execution Flag - - - - - - - - - - - 3-76, 3-77
Clear Alarm - - - - - - - - - - - - - - - - - - - - - - - -3-39 Command Hold Completed - - - - - - - - - - - - - - 3-76
clear command - - - - - - - - - - - - - - - - - - - - - 11-19 Command Ready - - - - - - - - - - - - - - - - - - - - 3-83
clearing alarm history - - - - - - - - - - - - - - - - - -4-85 Command Status - - - - - - - - - - - - - - - - - - - 11-33
monitoring - - - - - - - - - - - - - - - - - - - - - - - -4-81 Echo-back of Command ID - - - - - - - - - - - - - - 3-83
monitoring alarm history - - - - - - - - - - - - - - - - -4-83 Hold Command - - - - - - - - - - - - - - - - - - - - - 3-45
read command - - - - - - - - - - - - - - - - - - - - - 11-17 communications error
alarms/warnings clear command - - - - - - - - - - - - - 11-19 Mask Communications Error Detection - - - - - - - - 3-30
alarms/warnings read command - - - - - - - - - - - - - 11-17 COMPLETE - - - - - - - - - - - - - - - - - - - - - - - - - - 3-77
ALM_CLR_CMP - - - - - - - - - - - - - - - - - - - - - - -3-83 control block diagram for phase control - - - - - - - - - - 11-4
ALM_HIST - - - - - - - - - - - - - - - - - - - - - - - - - - -4-83 control block diagram for position control- - - - - - - - - 11-2
ALM_MON - - - - - - - - - - - - - - - - - - - - - - - - - -4-81 control block diagram for speed control- - - - - - - - - - 11-8
ALMHIST_CLR - - - - - - - - - - - - - - - - - - - - - - - -4-85 control block diagram for torque control - - - - - - - - - 11-6
APOS - - - - - - - - - - - - - - - - - - - - - - - - - - - - -3-81 controlling vertical axes - - - - - - - - - - - - - - - - - - - - 6-3
Approach Speed - - - - - - - - - - - - - - - - - - - - - - -3-60 CPOS - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-80
automatically updated parameters - - - - - - - - - - - - -3-89 CPU STOP operation - - - - - - - - - - - - - - - - - - - 11-35
auxiliary SERVOPACK Creep Speed - - - - - - - - - - - - - - - - - - - - - - - - - 3-60
Auxiliary SERVOPACK Parameter Number - - 3-65, 3-85 Cyclic Communications Initialization Incomplete - - - - - 3-75
Auxiliary SERVOPACK Parameter Read Data - - - - -3-85
Auxiliary SERVOPACK Parameter Set Value - - - - -3-65 D
Auxiliary SERVOPACK Parameter Size - - - - - - - -3-65 D_ALM - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-83
axis selection - - - - - - - - - - - - - - - - - - - - - 3-28, 5-5 D_WAR - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-83
axis setting instructions - - - - - - - - - - - - - - - - - - 4-193 data I/O commands - - - - - - - - - - - - - - - - - - - - 11-16
DCC - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-65
DEC1 + C Pulse - - - - - - - - - - - - - - - - - - - - - - - 4-26
DEC1 + ZERO Signal - - - - - - - - - - - - - - - - - - - - 4-28
deceleration limit switch - - - - - - - - - - - - - - - - - - 11-40
Index-1
Index
DEN - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-78 fixed parameters - - - - - - - - - - - - - - - - - - - - - - - -3-2

device information details - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-27
Device Information Monitor Code - - - - - - - - - - - 3-87 Fixed Parameter Error - - - - - - - - - - - - - - - - - - 3-71
Device Information Monitor Data - - - - - - - - - - - 3-88 Fixed Parameter Monitor - - - - - - - - - - - - - - - - 3-87
Device Information Selection Code - - - - - - - - - - 3-66 Fixed Parameter Number - - - - - - - - - - - - - - - - 3-66
reading - - - - - - - - - - - - - - - - - - - - - - - - -4-130 list - - - - - - - - - - - - - - - - - - - - - - - - - - 3-7, 9-3
Distribution Completed - - - - - - - - - - - - - - - - - - - 3-78 reading - - - - - - - - - - - - - - - - - - - - - - - - - 4-134
DPOS - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-80 Tab Page - - - - - - - - - - - - - - - - - - - - - - - - - 7-20
Drive Alarm - - - - - - - - - - - - - - - - - - - - - - - - - 3-83 FIXPRM_RD - - - - - - - - - - - - - - - - - - - - - - - - - 4-134
Drive Warning - - - - - - - - - - - - - - - - - - - - - - - - 3-83
H
E HOLDL - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-76
Electronic Cam Phase Compensation Type - - - - - - - 3-46 HOME LS + C Pulse - - - - - - - - - - - - - - - - - - - - - 4-34
electronic gear - - - - - - - - - - - - - - - - - - - - - - - - 5-3 HOME Only - - - - - - - - - - - - - - - - - - - - - - - - - - 4-36
encoder
selection - - - - - - - - - - - - - - - - - - - - - - - - - 3-33 I
environment for using Σ-7-series SERVOPACKs - - - - 7-14 I/O commands - - - - - - - - - - - - - - - - - - - - - - - 11-15
EX_FEED- - - - - - - - - - - - - - - - - - - - - - - - - - -4-108 I/O Map Tab Page - - - - - - - - - - - - - - - - - - - - - - 7-13

switching from the command under execution - - -4-188 I/O Module settings - - - - - - - - - - - - - - - - - - - - 11-13
EX_POSING - - - - - - - - - - - - - - - - - - - - - - - - - 4-14 incremental encoder - - - - - - - - - - - - - - - - - - - - - 4-21
switching from the command under execution - - -4-152 incremental value addition method - - - - - - - - - - - - 11-41
Excessive Absolute Encoder Rotations - - - - - - - - - 3-74 indicators - - - - - - - - - - - - - - - - - - - - - - - - - - - -2-5
Excessive Deviation - - - - - - - - - - - - - - - - 3-71, 3-74 INF_RD - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-130
excessive deviation infinite-length axis - - - - - - - - - - - - - - - - - - - - - 11-41
Excessive Deviation Detection Value - - - - - - - - - 3-52 position control - - - - - - - - - - - - - - - - - - - - - 11-42
Excessive Deviation Error Level Setting - - - - - - - 3-39 infinite-length operation - - - - - - - - - - - - - - - - - - - 5-31
Excessive Speed - - - - - - - - - - - - - - - - - - - - - - 3-73 INPUT + C Pulse - - - - - - - - - - - - - - - - - - - - - - - 4-39
external appearance - - - - - - - - - - - - - - - - - - - - - 2-5 INPUT Only - - - - - - - - - - - - - - - - - - - - - - - - - - 4-41
External Positioning - - - - - - - - - - - - - - - - - - - - 4-14 INTERPOLATE - - - - - - - - - - - - - - - - - - - - - - - - 4-43
external positioning switching from the command under execution - - - 4-159
External Positioning Final Travel Distance - - - - - - 3-62 Interpolation - - - - - - - - - - - - - - - - - - - - - - - - - 4-43
External Positioning Signal Setting - - - - - - - - - - 3-41 Inverters
A1000 alarm - - - - - - - - - - - - - - - - - - - - - - 10-66
F connection specifications - - - - - - - - - - - - - - - - 10-2
FAIL - - - - - - - - - - - - - - - - - - - - - - - - - 3-76, 3-77 fixed parameter list - - - - - - - - - - - - - - - - - - - 10-4
FEED - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-51 input data details - - - - - - - - - - - - - - - - - - - 10-29
switching from the command under execution - - -4-164 main command details - - - - - - - - - - - - - - - - 10-35
Feedback Speed - - - - - - - - - - - - - - - - - - - - - - 3-86 monitor parameter list - - - - - - - - - - - - - - - - - 10-17
Filter Time Constant - - - - - - - - - - - - - - - - - - - - 3-58 output data details - - - - - - - - - - - - - - - - - - - 10-28
filter time constant setting parameter list - - - - - - - - - - - - - - - - - - 10-5
Filter Time Constant Change Error - - - - - - - - - - 3-74 setup procedure - - - - - - - - - - - - - - - - - - - - 10-55
filter type subcommand details - - - - - - - - - - - - - - - - - 10-42
Filter Type Change Error - - - - - - - - - - - - - - - - 3-74 V1000 alarm - - - - - - - - - - - - - - - - - - - - - - 10-70
Filter Type Selection - - - - - - - - - - - - - - - - - - 3-40 Issue Phase Reference - - - - - - - - - - - - - - - - - - 4-100
finite-length axis- - - - - - - - - - - - - - - - - - - - - - -11-42 Issue Speed Reference - - - - - - - - - - - - - - - - - - - 4-90
position control - - - - - - - - - - - - - - - - - - - - -11-42 Issue Torque/Force Reference - - - - - - - - - - - - - - - 4-95
finite-length operation - - - - - - - - - - - - - - - - - - - 5-26
J
Jog - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-51
Jog with External Positioning - - - - - - - - - - - - - - - 4-108
Index-2
Index
K monitor parameters - - - - - - - - - - - - - - - - - - - - - - 3-2

KFS - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -4-75 details - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-69
KIS - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-104 list - - - - - - - - - - - - - - - - - - - - - - - - - 3-18, 9-16
KPS - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -4-73 Tab Page - - - - - - - - - - - - - - - - - - - - - - - - - 7-21
KVS - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -4-71 motion command switching
during execution of the EX_FEED command - - - - 4-188
L during execution of the EX_POSING command - - 4-152
LATCH - - - - - - - - - - - - - - - - - - - - - - - - - - - - -4-47 during execution of the FEED command - - - - - - 4-164
Latch - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -4-47 during execution of the INTERPOLATE command - 4-159
latch during execution of the PHASE command - - - - - 4-184
Latch Complete - - - - - - - - - - - - - - - - - - - - -3-78 during execution of the POSING command - - - - 4-148
Latch Completed Status Clear Request - - - - - - - -3-38 during execution of the STEP command - - - - - - 4-169
Latch Detection Request - - - - - - - - - - - - - - - -3-36 during execution of the TRQ command - - - - - - - 4-179
Latch Detection Signal Selection - - - - - - - - - - - -3-41 during execution of the VELO command - - - - - - 4-174
Latch Mode - - - - - - - - - - - - - - - - - - - - - - - -3-70 during execution of the ZRET command - - - - - - 4-156
latch zone during execution of the ZSET command - - - - - - 4-173
Latch Zone Enable - - - - - - - - - - - - - - - - - - - -3-45 motion commands
Latch Zone Lower Limit Setting - - - - - - - - - - - -3-53 command execution judgment - - - - - - - - - - - - 4-142
Latch Zone Upper Limit Setting - - - - - - - - - - - -3-53 control flags - - - - - - - - - - - - - - - - - - - - - - - 3-45
LCOMP - - - - - - - - - - - - - - - - - - - - - - - - - - - -3-78 list - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-3

Motion Command Response Code - - - - - - - - - - 3-75
Linear Acceleration Rate/Acceleration Time Constant - -3-57
Motion Command Setting Error - - - - - - - - - - - - 3-71
Linear Deceleration Rate/Deceleration Time Constant - -3-57
Motion Command Status - - - - - - - - - - - - - - - - 3-76
linear scale pitch - - - - - - - - - - - - - - - - - - - - - - -5-15
switching - - - - - - - - - - - - - - - - - - - - - - - - 4-147
Link Assignment Tab Page - - - - - - - - - - - - - - - - -7-10
Motion Operation Ready - - - - - - - - - - - - - - - - - - 3-69
LPOS - - - - - - - - - - - - - - - - - - - - - - - - - - - - -3-81
Motion Parameter Registers - - - - - - - - - - - - - - - - - 3-3
motion parameter registers - - - - - - - - - - - - - - - - - - 3-3
M
machine coordinate system - - - - - - - - - - - - - - - - 11-40 motion parameters- - - - - - - - - - - - - - - - - - - - - - - 3-2
Machine Coordinate System Calculated Position - - -3-80 motion parameters used for position control - - - - - - - - 1-3
Machine Coordinate System Feedback Position - - -3-81 motion subcommands - - - - - - - - - - - - - - - - - - - 3-46
Machine Coordinate System Latch Position - - - - -3-81 execution judgment table - - - - - - - - - - - - - - - 4-145
Machine Coordinate System Reference Position - - -3-80 Motion Subcommand Response Code - - - - - - - - 3-77
Machine Coordinate System Target Position - - - - -3-79 Motion Subcommand Status - - - - - - - - - - - - - - 3-77
origin - - - - - - - - - - - - - - - - - - - - - - - - - - -5-19 Motor Type - - - - - - - - - - - - - - - - - - - - - - - - - - 3-85
Zero Point Position Offset in Machine Coordinate MPOS - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-80
System - - - - - - - - - - - - - - - - - - - - - - - - - -3-62 Multiturn Limit Setting - - - - - - - - - - - - - - - - - - - 4-122
machine gear ratio term - - - - - - - - - - - - - - - - - - -3-32 multiturn limit settings - - - - - - - - - - - - - - - - - - - - 5-47
Machine Lock - - - - - - - - - - - - - - - - - - - - - 3-36, 3-79 programming example - - - - - - - - - - - - - - - - - 5-49
Mask Watchdog Error Detection - - - - - - - - - - - - - -3-31
Master Status register - - - - - - - - - - - - - - - - - - - 11-32 N
MEM_RD - - - - - - - - - - - - - - - - - - - - - 4-114, 4-138 NEAR - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-78
MEM_WR - - - - - - - - - - - - - - - - - - - - - 4-116, 4-140 negative direction
M-III Negative Overtravel - - - - - - - - - - - - - - - 3-72, 3-73
M-III Command Status - - - - - - - - - - - - - - - - -3-83 Negative Software Limit - - - - - - - - - - - - - 3-68, 3-73
M-III Servo Command Input Signal Monitor - - - - - -3-82 Negative External Torque/Force Input - - - - - - - - - - - 3-37
M-III Servo Command Status - - - - - - - - - - - - - -3-82 non-simple absolute infinite - - - - - - - - - - - - - - - - - 5-36
mixed cascade/star connections - - - - - - - - - - - - - -2-16 non-volatile parameter
MLKL - - - - - - - - - - - - - - - - - - - - - - - - - - - - -3-79 write - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-106
modal latch - - - - - - - - - - - - - - - - - - - - - - - - - -6-12 non-volatile parameters

read command - - - - - - - - - - - - - - - - - - - - - 11-23
Mode Settings 2 - - - - - - - - - - - - - - - - - - - - - - -3-40
write command - - - - - - - - - - - - - - - - - - - - 11-24
Module configuration settings - - - - - - - - - - - - - - - - 7-2
NOP - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-125
Monitor 2 - - - - - - - - - - - - - - - - - - - - - - - - - - -3-63
NOT + C pulse - - - - - - - - - - - - - - - - - - - - - - - - 4-37
Monitor 4 - - - - - - - - - - - - - - - - - - - - - - - - - - -3-64
NOT only - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-38
Index-3
Index
O POSMAX - - - - - - - - - - - - - - - - - - - - - - - - - - 11-40
OL10 - - - - - - - - - - - - - - - - - - - - - - - - - 5-10 Number of POSMAX Turns - - - - - - - - - - - - - - - 3-81
operation mode selection - - - - - - - - - - - - - - - - - 3-27 Number of POSMAX Turns Preset Data - - - - - - - - 3-63
origin return Number of POSMAX Turns Preset Request - - - - - - 3-37
methods - - - - - - - - - - - - - - - - - - - - - - - - - 4-21 POSMAX Turn Preset Completed - - - - - - - - - - - 3-79
Out-of-range Parameter Number - - - - - - - - - - - - - 3-70 POT + C pulse - - - - - - - - - - - - - - - - - - - - - - - - 4-32
Override - - - - - - - - - - - - - - - - - - - 3-50, 5-10, 11-40 P-OT Only - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-33
overtravel Power OFF Encoder Position
Enable Negative Overtravel - - - - - - - - - - - - - - 3-29 Lower 2 Words - - - - - - - - - - - - - - - - - - 3-67, 3-87
Enable Positive Overtravel - - - - - - - - - - - - - - - 3-29 Upper 2 Words - - - - - - - - - - - - - - - - - - 3-67, 3-87
function - - - - - - - - - - - - - - - - - - - - - - - - - - 6-6 Power OFF Pulse Position
OW18 - - - - - - - - - - - - - - - - - - - - - - - - - 5-10 Lower 2 Words - - - - - - - - - - - - - - - - - - 3-67, 3-87
Upper 2 Words - - - - - - - - - - - - - - - - - - 3-67, 3-87
P PPRM_WR - - - - - - - - - - - - - - - - - - - - - - - - - 4-106
parameters precautions when using Σ-7-series SERVOPACKs - - - - 6-34
read command - - - - - - - - - - - - - - - - - - - - -11-20 PRM_RD - - - - - - - - - - - - - - - - - - - - - - 4-77, 4-126
Transmission Parameters Tab Page - - - - - - - - - - 7-8
PRM_WR - - - - - - - - - - - - - - - - - - - - - - 4-79, 4-128
write command - - - - - - - - - - - - - - - - - - - - -11-21
parameters automatically updated during self R
configuration - - - - - - - - - - - - - - - - - - - - - - - - 3-93
rated speed - - - - - - - - - - - - - - - - - - - - - - - - - - 5-15
PERR - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-81
RCMD_ID - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-83
PHASE - - - - - - - - - - - - - - - - - - - - - - - - - - - -4-100
Read Memory- - - - - - - - - - - - - - - - - - - - - - - - 4-114
switching from the command under execution - - -4-184
read memory
Phase Compensation Setting - - - - - - - - - - - - - - - 3-53 command - - - - - - - - - - - - - - - - - - - - - - - - 11-26
phase reference Read Non-volatile Memory - - - - - - - - - - - - - - - - 4-118
Disable Phase Reference Calculation - - - - - - - - 3-41
reference output timing - - - - - - - - - - - - - - - - - - - 2-20
phase-C pulse - - - - - - - - - - - - - - - - - - - - - - -11-40
reference units - - - - - - - - - - - - - - - - - - - - - - - - -5-3
PMEM_RD - - - - - - - - - - - - - - - - - - - - - - - - - -4-118
Report - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-28
PMEM_WR - - - - - - - - - - - - - - - - - - - - - - - - -4-120
Reset Communications - - - - - - - - - - - - - - - - - - - 3-38
POSCOMP - - - - - - - - - - - - - - - - - - - - - - - - - 3-78
reset communications
POSING - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-7 command - - - - - - - - - - - - - - - - - - - - - - - - 11-30
switching from the command under execution - - -4-148 Reset Integration - - - - - - - - - - - - - - - - - - - - - - - 3-38
Position Deviation - - - - - - - - - - - - - - - - - - - - - - 3-81 Reset Network - - - - - - - - - - - - - - - - - - - - - - - - 3-38
Position Loop Gain - - - - - - - - - - - - - - - - - - - - - 3-55 reset network
Position Loop Integral Time Constant - - - - - - - - - - 3-56 command - - - - - - - - - - - - - - - - - - - - - - - - 11-31
Position Management Status - - - - - - - - - - - - - - - 3-78 rotary table - - - - - - - - - - - - - - - - - - - - - - - - - - -5-4
position reference Run Command Settings - - - - - - - - - - - - - - - - - - - 3-36
Position Reference Setting - - - - - - - - - - - - - - 3-50 RUN Status - - - - - - - - - - - - - - - - - - - - - - - - - - 3-69
Position Reference Type - - - - - - - - - - - - - - - - 3-46
Running with Servo ON - - - - - - - - - - - - - - - - - - - 3-70
position references - - - - - - - - - - - - - - - - - - - - - - 5-6
Positioning - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-7 S
positioning saving the value of OL48 - - - - - - - - - - - - - - - 5-29
Excessive Positioning Travel Distance - - - - - - - - 3-73 Scan Setting Error - - - - - - - - - - - - - - - - - - - - - - 3-75
Near Position - - - - - - - - - - - - - - - - - - - - - - 3-78 SCC - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-67
NEAR Signal Output Width - - - - - - - - - - - - - - 3-51
Second Speed Compensation - - - - - - - - - - - - - - - 3-49
Positioning Completed - - - - - - - - - - - - - - - - - 3-78
servo driver
Positioning Completion Check Time - - - - - - - - - 3-52
Servo Driver Error - - - - - - - - - - - - - - - - 3-71, 3-72
Positioning Completion Width - - - - - - - - - - - - - 3-50
Servo Monitor Tab Page - - - - - - - - - - - - - - - - - - - 7-21
Positioning Time Exceeded - - - - - - - - - - - - - - 3-73
Servo OFF - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-73
positive direction
Servo ON - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-36
Positive Overtravel - - - - - - - - - - - - - - - 3-71, 3-72
Positive Software Limit - - - - - - - - - - - - - 3-68, 3-73 Servo ON Incomplete - - - - - - - - - - - - - - - - - - - - 3-72
Positive External Torque/Force Input - - - - - - - - - - - 3-37 Servo Parameter Tab Page - - - - - - - - - - - - - - - - - 7-21
Servo Ready - - - - - - - - - - - - - - - - - - - - - - - - - 3-70
Index-4
Index
SERVOPACK star connections - - - - - - - - - - - - - - - - - - - - - - - 2-15

Connected Encoder Model Error - - - - - - - - - - - -3-75 status
Detected SERVOPACK Model Error - - - - - - - - - -3-75 Monitor Status - - - - - - - - - - - - - - - - - - - - - 4-132
Motor Type Setting Error - - - - - - - - - - - - - - - -3-75 Tab Page - - - - - - - - - - - - - - - - - - - - - - - - - 7-14
Read SERVOPACK Parameter - - - - - - - - 4-77, 4-126 STEP - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-56
SERVOPACK Alarm Code - - - - - - - - - - - - - - - -3-84 STEP Travel Distance - - - - - - - - - - - - - - - - - - 3-61
SERVOPACK Alarm Monitor Number - - - - - - - - -3-64 switching from the command under execution - - - 4-169
SERVOPACK Communications Error - - - - - - - - -3-74 STEP Operation - - - - - - - - - - - - - - - - - - - - - - - 4-56
SERVOPACK Communications Timeout Error - - - -3-74 Stop Mode Selection - - - - - - - - - - - - - - - - - - - - 3-40
SERVOPACK Communications Warning - - - - - - - -3-72
SVC definition - - - - - - - - - - - - - - - - - - - - - - - - 7-19
SERVOPACK Parameter Number - - - - - - - 3-64, 3-85
SVC Function Module - - - - - - - - - - - - - - - - - - - - - 2-3
SERVOPACK Parameter Read Data - - - - - - - - - -3-85
SVC32
SERVOPACK Parameter Set Value - - - - - - - - - - -3-65
indicators - - - - - - - - - - - - - - - - - - - - - - - - - - 2-5
SERVOPACK Parameter Size - - - - - - - - - - - - - -3-64
SVR - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-4
SERVOPACK Stop Signal Active - - - - - - - - - - - -3-72
SVR Function Module - - - - - - - - - - - - - - - - - - - - - 2-3
SERVOPACK Synchronized Communications Error -3-74
Switch Gain - - - - - - - - - - - - - - - - - - - - - - - - - - 3-39
SERVOPACK User Monitor 2 - - - - - - - - - - - - - -3-84
SERVOPACK User Monitor 4 - - - - - - - - - - - - - -3-85 Switch Gain 2 - - - - - - - - - - - - - - - - - - - - - - - - 3-39
SERVOPACK User Monitor Information - - - - - - - -3-84 synchronization of the MECHATROLINK-III transmission
cycle and high-speed scan cycle - - - - - - - - - - - - - 2-19
SERVOPACK User Monitor Setting - - - - - - - - - -3-63
Write SERVOPACK Parameter - - - - - - - - 4-79, 4-128 System Busy - - - - - - - - - - - - - - - - - - - - - - - - - 3-70
SERVOPACK Parameter Access Selection - - - - - - - -3-46 system configuration example - - - - - - - - - - - - - - - 2-12
SERVOPACK Parameter Auto-Write - - - - - - - - - - - -3-29 system registers - - - - - - - - - - - - - - - - - - - - - - 11-10
Set Zero Point - - - - - - - - - - - - - - - - - - - - - - - -4-61

T
setting parameters - - - - - - - - - - - - - - - - - - - - - - 3-2
Target Position Increment Monitor - - - - - - - - - - - - - 3-81
details - - - - - - - - - - - - - - - - - - - - - - - - - - -3-36
terminology - - - - - - - - - - - - - - - - - - - - - - - - - 11-40
list - - - - - - - - - - - - - - - - - - - - - - - - - 3-10, 9-7
topologies - - - - - - - - - - - - - - - - - - - - - - - - - - 2-14
Setting Parameter Error - - - - - - - - - - - - - - - - -3-71
Torque Feedforward Compensation - - - - - - - - - - - - 3-47
Tab Page - - - - - - - - - - - - - - - - - - - - - - - - -7-21
Simple Absolute Infinite Axis Position Management Torque Unit Selection - - - - - - - - - - - - - - - - - - - - 3-41
selection - - - - - - - - - - - - - - - - - - - - - - - - -3-29 Torque/Force Limit - - - - - - - - - - - - - - - - - - - - - - 3-49
simple absolute infinite axis position management Torque/Force Reference Monitor - - - - - - - - - - - - - - 3-86
infinite-length operation - - - - - - - - - - - - - - - - -5-32 Torque/Force Reference Setting - - - - - - - - - - - - - - 3-47
Simulation Mode - - - - - - - - - - - - - - - - - - - 2-4, 3-27 TPOS - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-79
slave CPU synchronization - - - - - - - - - - - - - - - - -6-18 TPRSE - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-79
SMON - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-132 Transmission Reference Mode
software limits Command Buffers for SERVOPACK Transmission
Enable Negative Software Limit - - - - - - - - - - - -3-28 Reference Mode - - - - - - - - - - - - - - - - - - - - - 3-69
Enable Positive Software Limit - - - - - - - - - - - - -3-28 Response Buffers for SERVOPACK Transmission
Reference Mode - - - - - - - - - - - - - - - - - - - - - 3-88
function - - - - - - - - - - - - - - - - - - - - - - - - - - 6-9
travel direction - - - - - - - - - - - - - - - - - - - - - - - - 3-45
specifications - - - - - - - - - - - - - - - - - - - - - - - - - 2-6
TRQ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-95
Speed Compensation - - - - - - - - - - - - - - - - - - - -3-56
switching from the command under execution - - - 4-179
Speed Feedforward Compensation - - - - - - - - - - - -3-55
types of motion parameters - - - - - - - - - - - - - - - - - 3-2
Speed Limit for Torque/Force Reference - - - - - - - - - -3-47
Speed Loop Gain - - - - - - - - - - - - - - - - - - - - - - -3-55
U
Speed Loop Integral Time Constant - - - - - - - - - - - -3-56 User-specified SERVOPACK Parameter Set Value - - - - 3-69
Speed Loop P/PI Switch - - - - - - - - - - - - - - - - - -3-39 User-specified SERVOPACK Parameters
speed reference User-specified SERVOPACK Parameter Auto-Write - 3-30
Speed Reference Output Monitor - - - - - - - - - - -3-82
speed references - - - - - - - - - - - - - - - - - - - - - - - 5-9 V
setting - - - - - - - - - - - - - - - - - - - - - - - - - - -5-10 VELO - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-90
Speed Unit Selection - - - - - - - - - - - - - - - - - - - - -3-40 switching from the command under execution - - - 4-174
Square Root - - - - - - - - - - - - - - - - - - - - - - - - 4-203
star connection - - - - - - - - - - - - - - - - - - - - - - - -2-17
Index-5
Index
W
Warnings - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-71
warnings
clear command - - - - - - - - - - - - - - - - - - - - -11-19
read command - - - - - - - - - - - - - - - - - - - - -11-17
working coordinate system - - - - - - - - - - - - - - - -11-42
Working Coordinate System Offset - - - - - - - - - - - - 3-62
Write Memory - - - - - - - - - - - - - - - - - - - - - - - -4-116
write memory
command - - - - - - - - - - - - - - - - - - - - - - - -11-28
Write Non-volatile Memory - - - - - - - - - - - - - - - - -4-120
Z
ZERO - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-78
Zero Point Position - - - - - - - - - - - - - - - - - - - - - 3-78
zero point position
Zero Point Position Output Width - - - - - - - - - - - 3-60
Zero Point Return - - - - - - - - - - - - - - - - - - - - - - 4-21
zero point return
Zero Point Return Completed - - - - - - - - - - - - - 3-79
Zero Point Return Direction Selection - - - - - - - - 3-45
Zero Point Return Travel Distance - - - - - - - - - - 3-60
Zero Point Return Input Signal - - - - - - - - - - - - - - 3-42
Zero Point Return Method - - - - - - - - - - - - - - - - - 3-59
zero point setting
Zero Point Setting Completed - - - - - - - - - - - - 3-79
Zero Point Unset - - - - - - - - - - - - - - - - - - - - - - 3-74
ZERO Signal - - - - - - - - - - - - - - - - - - - - - - - - - 4-27
ZRET - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-21
ZRNC - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-79
ZSET - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-61
Index-6
Revision History
The date of publication, revision number, and web revision number of the manual are given on the bottom
right of the back cover. Refer to the following example.
MANUAL NO. SIEP C880725 11B <1>-0

Web revision number
Revision number
Published in Japan October 2012
Date of publication
Web
Date of Rev.
Rev. Section Revised Content
Publication No.
No.
August 2019 <8> 2 5.2.3, 5.3.2 Addition: Information on MEM_WR (Write Memory)
May 2019 1 Preface Partly revised
6.5.3 Revision: MPE720 screen captures
7.2.2 Revision: Number of Transmission Bytes for SGD7S-, SGD7W-, SGDV-
November 2018 0 3.4.2 Addition:  SERVOPACK External Trace Input Control under M-III Vendor-specific
Servo Command Output Signal
Back cover Revision: Address
July 2018 <7> 0 Preface Partly revised.
All chapters Addition: Information on the MEM_RD (Read Memory) and MEM_WR (Write Mem-
ory) motion subcommands
Revision: Name of LATCH motion command changed from “Latch” to “Interpolate
with latch input”
3.3.2, 3.4.2, Revision: Information on OL6A (Auxiliary Address Setting)
9.3.2
4.3.8, 4.3.9 Newly added.
7.2.2 Revision: Information on the transmission cycle
Chapter 9, Completely revised.
Chapter 10
March 2018 <6> 0 All chapters Partly revised.
August 2017 <5> 1 3.4.3 Revision: Information on Bit 5 in IW0C
April 2017 0 All chapters Completely revised.
October 2016 <4> 0 4.3, 4.4 Addition: Information on bit D (Torque Base Unit of SERVOPACK) in fixed parame-
ter 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 Febru-
ary 2016.
All chapters Completely revised.
May 2015 <2> 0 – Based on Japanese user’s manual, SIJP C880725 11D<3>-0, published in Novem-
ber 2014.
Front cover, Revision: Format
spine
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
October 2012 0 – Fully revised.
March 2012 <0> 1 1.1 Deletion: Descriptions of Option Modules and the Rack Expansion Interface Unit.
December 2011 – – – First edition
Revision History-1
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.
2121, Norman Drive South, Waukegan, IL 60085, U.S.A.
Phone: +1-800-YASKAWA (927-5292) or +1-847-887-7000 Fax: +1-847-887-7310
http://www.yaskawa.com
YASKAWA ELÉTRICO DO BRASIL LTDA.
777, Avenida Piraporinha, Diadema, São Paulo, 09950-000, Brasil
Phone: +55-11-3585-1100 Fax: +55-11-3585-1187
http://www.yaskawa.com.br
YASKAWA EUROPE GmbH
Hauptstraβe 185, 65760 Eschborn, Germany
Phone: +49-6196-569-300 Fax: +49-6196-569-398
http://www.yaskawa.eu.com E-mail: [email protected]
YASKAWA ELECTRIC KOREA CORPORATION
35F, Three IFC, 10 Gukjegeumyung-ro, Yeongdeungpo-gu, Seoul, 07326, Korea
Phone: +82-2-784-7844 Fax: +82-2-784-8495
http://www.yaskawa.co.kr
YASKAWA ASIA PACIFIC PTE. LTD.
30A, Kallang Place, #06-01, 339213, Singapore
Phone: +65-6282-3003 Fax: +65-6289-3003
http://www.yaskawa.com.sg
YASKAWA ELECTRIC (THAILAND) CO., LTD.

59, 1st-5th Floor, Flourish Building, Soi Ratchadapisek 18, Ratchadapisek Road, Huaykwang, Bangkok, 10310, Thailand
Phone: +66-2-017-0099 Fax: +66-2-017-0799
http://www.yaskawa.co.th
YASKAWA ELECTRIC (CHINA) CO., LTD.
22F, Link Square 1, No.222, Hubin Road, Shanghai, 200021, China
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
12F, No. 207, Sec. 3, Beishin Rd., Shindian Dist., New Taipei City 23143, Taiwan
Phone: +886-2-8913-1333 Fax: +886-2-8913-1513 or +886-2-8913-1519
http://www.yaskawa.com.tw
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 YASKAWA ELECTRIC CORPORATION
MANUAL NO. SIEP C880725 11H <8>-2

Published in Japan August 2019
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Machine Controller MP3000 Series

MANUAL NO. SIEP C880725 11H

 Engineering Tools Used in This Manual

Indicates precautions or restrictions that must be observed.

Example Indicates operating or setting examples.

Information Indicates supplemental information to deepen understanding or useful information.

 Maintenance and Inspection Precautions

 Other General Precautions

Basic Information on Motion Control

1.2 Types of Motion Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-3

Basic Information on Motion Control Function Modules

2.2 Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-6

2.3 System Configuration Example . . . . . . . . . . . . . . . . . . . . . . . . 2-12

2.4 Topologies . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-14

3.2 Motion Parameter Registers . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-3

3.3 Motion Parameter Tables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-7

3.4 Motion Parameter Details. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-27

3.5 Automatically Updated Parameters . . . . . . . . . . . . . . . . . . . . . 3-89

Motion Control Program Commands and Instructions

4.2 Motion Command Details . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-7

4.3 Motion Subcommand Details . . . . . . . . . . . . . . . . . . . . . . . . . 4-125

4.4 Changing the Command. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-142

4.5 Motion Language Instructions . . . . . . . . . . . . . . . . . . . . . . . . 4-193

Machine-Specific Motion Control

5.2 Absolute Encoders . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-17

5.3 Multiturn Limit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-47

Other Useful Functions

6.2 Overtravel . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-6

6.3 Software Limits. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-9

6.4 Modal Latching. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-12

6.6 Slave CPU Synchronization . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-18

6.7 Multiturn Limit Setting Disagreement Detection . . . . . . . . . . . 6-31

Making Settings for Motion Control with the MPE720

7.2 MECHATROLINK Communications Settings . . . . . . . . . . . . . . . 7-7

7.3 Setting Motion Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-19

7.4 SERVOPACK Parameter Data Flow . . . . . . . . . . . . . . . . . . . . . 7-23

8.2 Interpolation of Two Axes. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-6

8.3 Torque Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-9

8.4 Phase Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-11

9.2 Motion Parameter Table . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-3

9.3 Link Assignments . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-25

9.4 Common Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-26

10.2 Parameters for Inverter Operation . . . . . . . . . . . . . . . . . . . . . . 10-3

10.3 Main Commands and Subcommands . . . . . . . . . . . . . . . . . . 10-33

10.4 Precautions for Inverter Operation. . . . . . . . . . . . . . . . . . . . . 10-50

10.5 Setup Procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10-55

10.6 Alarm and Warning Codes for Inverter . . . . . . . . . . . . . . . . . . 10-66

11.2 System Registers . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-10

11.5 Common Parameters and SERVOPACK Parameters . . . . . . . 11-38

11.6 Terminology . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-40

1.1 Types of Programs . . . . . . . . . . . . . . . . . . . 1-2

1.2 Types of Motion Control . . . . . . . . . . . . . . . 1-3

1.1 Types of Programs

1.2 Types of Motion Control

1.2.1 Position Control

Basic Information on Motion Control

1.2.2 Phase Control

1.2.3 Torque Control

1.2.4 Speed Control