5. Commands and Functions - Sanyo Denki America, Inc.

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5. Commands and Functions Command Code: 20 (14h) Data Length: 4 bytes ALM Detection Condition DAT No Contents Setting range Setting unit Initial Value DAT1 Overload stop time 1 to Ch 1s 8 DAT2, 3 Excessive deviation value 1 to FFFFh 1PLS (equivalent of 2000P/R) 1770h DAT4 Enables or disables the optional Alarm and Limit functions. 0 to FFh 0=Detection allowed (enabled) 1=Detection prohibited (disabled) Sets the enable, disable and detection conditions for the ALM detection and Limit functions. DAT1: Sets the detection time for overload stop (stop before reaching the target position). DAT2, DAT3: Sets the servo error detection condition (enabled if DAT4, Bit 2=0). DAT4: Enables or disables the optional Alarm and Limit functions. DATA NO Bit7 Bit6 Bit5 Bit4 Bit3 Bit2 Bit1 Bit0 DAT4 SDN * * SL- SL+ SE Push Wrap WRAP: Enables or disables ALM detection for Wrap Around (coordinate sign reversal). Select “1” to enable continuous operation in the same direction. Push: Enables or disables alarm detection for an unloaded push (when the target position set by the movement distance is reached during the push operation). SE: Enables or disables the detection of a servo error in the case of excessive deviation. If enabled, the detection conditions set in DAT2, 3 are used. SL+: Enables or disables the Positive Soft Limit function set by command 32h. SL-: Enables or disables the Negative Soft Limit function set by command 33h. SDN: Set to enable (0) if the zero-return sensor signal is input at CN1, pin 9. *If an external sensor detection-type zero-return is started, the external sensor input on CN1 pin 9 will be interpreted as the zero-return sensor signal, regardless of the function setting status (command 16h, DAT6) of that pin. * Overload stop ALM is not detected during push operation. 81h 5-11
5. Commands and Functions Command Code:22 (16h) Data Length:12 (d) bytes Input / Output Port Function RevBadd Output Function 8 to 22 DAT No Contents Setting range Setting unit Initial Value DAT1 Input logic See below 0=A conn. (ON Active) 1=B conn. 0 DAT2 Output logic See below 0=A conn. (ON Active) 1=B conn. 0 DAT3 Pin 6 input function 0 to 7 See Table 1 0(Point3) DAT4 Pin 7 input function 0 to 7 See Table 1 0(Point4) DAT5 Pin 8 input function 0 to 7 See Table 1 0(Point5) DAT6 Pin 9 input function 0 to 7 See Table 1 0(Point6) DAT7 Pin 12 input function 0 to 7 See Table 1 0(Point7) DAT8 Pin 16 output function 0 to 26 See Table 2 0(ZONE0) DAT9 Pin 17 output function 0 to 26 See Table 2 1(END) DAT10 Pin 18 output function 0 to 26 See Table 2 4(SON MON) DAT11 Pin 19 output function 0 to 26 See Table 2 6Generic output DAT12 Pin 20 output function 0 to 26 See Table 2 6Generic output Sets the input/output signal logic of CN1, and selects the function of the generic input/output signals. Refer to Chapter 4 for more information about the input/output port functions. DATA NO Function Bit7 Bit6 Bit5 Bit4 Bit3 Bit2 Bit1 Bit0 DAT1 Input logic ALM CLR STOP SELECT INT Pause * HL- HL+ DAT2 Output logic * * * * * ZONE ALM In-Pos Table 1: Input Port Functions Table 2: Output Port Functions Setting data Function Setting data Function Setting data Function 0 Note 2) Point No. 0 Note 5) ZONE Out 0 8 to 22 Note 5) ZONE Out 1 to 15 1 Note 3) Zero-return start 1 END signal 23 Note 5) Zone No Bit 0 2 Pause 2 P. Busy 24 Note 5) Zone No Bit 1 3 Interlock 3 Zero-return completion monitor 25 Note 5) Zone No Bit 2 4 SELECT 4 SON monitor 26 Note 5) Zone No Bit 3 5 Positive direction H. Limit 5 Note 4) Input pin monitor 6 Negative direction H. Limit 6 Generic output 7 Generic input 7 Motor stop 5-12
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M0007302 SANMOTION CLOSED LOOP STEP
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International Standards Conformity
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Closed Loop Stepping System PB seri
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5. Commands and Functions - Sanyo Denki America, Inc.

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