10. Detail of Various Settings

10.1 Resolution (K1)

Set the Resolution of the motor in pulses per rotation. The maximum and minimum position values (P command) for each Resolution are shown below.

Continuous position (P=1000000000) is available for all Resolutions. Example: K1=2 sets 1000 ppr.

10.2 Coordinate Direction (K4)

Set which of the CW / CCW directions is positive: 0 sets CW as positive (P=100 moves 100 pulses CW, P=-100 moves 100 pulses CCW), 1 sets CCW as positive (P=100 moves 100 pulses CCW, P=-100 moves 100 pulses CW). Example: K4=1.

10.3 In-position (K5)

Sets the range for In-position in pulse units. In-position is detected when the current position is within the set range of the target position. When stopping the motor by a stop command, the stopped position is recognized as the target position. When In-position is recognized, the In-position signal turns ON and the motor status becomes Ux.1=8. The In-position signal can be output by assigning an output function (Ref: 11.4.2).

Example: K5=5 — with target position 1000, In-position signals are sent between 995 and 1005.

10.4 Speed Override (K6)

Speed override changes the actual operating speed uniformly as a ratio of the set speed. To ensure device safety, set the speed override before trying the required speed — you can test the motion at reduced speed without changing the S command value, gradually increasing the ratio.

Operation Speed = Set Speed (S) x Speed Override (K6) / 100
Example: K6=50   // 50% of the S command value is applied to every motion

10.5 Software Limit (K7, K8, K9, K10)

Use the software limit function to prevent accidents when executing set Motion Data. It enables/disables the motion range limit and sets how the motor behaves when enabled.

From the 0 position, set the positive boundary in K8 and the negative boundary in K9, in the unit set by K10:

K8=100    // Set 10000 pulses to Software Limit (+)
K9=-150   // Set -15000 pulses to Software Limit (-)
K10=0     // Set 100 pulses as the Unit of Software Limit

10.6 Open Loop Holding (K14, K15)

Open Loop Holding automatically switches from closed loop to open loop control if there is no operation command for the time set by K15 after positioning completes. In Open Loop Holding mode, hunting inherent to servo motors can be suppressed. If the difference between the current and target position becomes larger than the K14 set value (±0.1 to 7.2 degrees) due to external force, the motor returns to closed loop and to the previous target position.

K14=10    // If the shaft is moved 1 degree by external force, return to closed loop
          // and go back to the previous target position
K15=500   // Go into Open Loop Holding when there is no positioning command
          // for 500 msec after positioning is completed

10.7 Creeping Speed (K17)

Set the creeping speed at the start and completion of the operation from 0 to 1000 (unit: K2 setting value). The creeping speed is the initial speed at which the operation actually starts and the final speed at the end of the operation. By changing the creeping speed you can adjust the response time of the motor and increase the tact time, but if the set value is too high, vibration may occur or operation may not be possible.

10.8 Single Turn ABS Function (K29)

The Single Turn ABS function memorizes the position of the origin even after power off, and can hold the position within ±180° with respect to the origin. In applications such as turntables, the time to return to origin can be omitted. However, if the stop position after power off is around 180 degrees from the origin, it is an indefinite area — when turning the power off, stop as close to the origin as possible.

Steps to enable the Single Turn ABS Function:
K29=1              // Enable Single Turn ABS Function
$                  // Send Data Save command
(Turn off / on the power)
ABS Alarm is ON    // (Ux.1=4096)
(1                 // Reset Alarm (Ux.1=16)
(                  // Servo ON (Ux.1=8)
|                  // Complete the Origin Detection

Position value after turning the power on again

The current position at power-on is always -180° to +180° with respect to the origin. For example, at 1000 Resolution, the current position after power on is a value from -500 to +500, even if the output shaft rotated multiple times while off. Examples: power on at Px.1=600 → Px.1=-400; at Px.1=2300 → Px.1=300; at Px.1=-1600 → Px.1=400.

10.9 Origin Detection Completion (K30)

When origin detection completion confirmation is enabled (K30=1) and the power is turned on again, only the origin detection operation is accepted until origin detection is completed. If an execution command is issued before completion, CM3+ will not operate and Ux.1=264 (8: In-position + 256: Operation Warning) is output; Query ?199 returns WARN.1=32.

10.10 Position Error Overflow Threshold (K63)

Settable range 1 to 32767, unit 1000 pulses. An error (Ux.1=1) is output when the deviation between the current and target position exceeds the set value, then the motor stops with Servo off. Example: K63=50 sets the threshold to 50000 pulses.

10.11 Overload Detection Time (K64)

Settable range 100 to 10000 msec. Sets the time until the overload alarm is output. If the overload state continues for the set time, an overload alarm (Ux.1=4) is output and the servo turns off. Example: K64=3000 — overload continuing more than 3 seconds triggers the alarm and stops with Servo off.

10.12 Status Report (K66)

Set the conditions to automatically report to a host controller. When combining conditions, set the total of the values:

Ex 1: K66=13 = 1 (In-position/Alarm) + 4 (Output Status) + 8 (No Local Echo)
Ex 2: K66=38 = 2 (Input Status) + 4 (Output Status) + 32 (Warning)

Comment example:
error.01.1: Value Out of Range!!   // When a value outside the Motion Data setting range is entered

10.13 Baud Rate (K71)

Set the baud rate for communication with a host controller. When this parameter is changed, the host baud rate needs to be changed to match. Example: K71=1 sets 9.6 kbps.