13.2 Communications Methods
13.2.1 I/O Communications
Absolute/Incremental
Use the Absolute/Incremental bit to specify whether the target position data that is stored in
bytes 4 to 7 specifies an absolute position or an incremental position. This data is enabled
when the Start Trajectory bit changes from 0 to 1.
0: Absolute position
1: Incremental position
Direction
The Direction bit specifies the rotation direction for continuous operation. This bit is valid only
when the command assembly code is 0x11 (continuous motor speed).
0: Negative direction
1: Positive direction
Smooth Stop
Change this bit from 0 to 1 to stop travel at the current acceleration/deceleration type and
deceleration rate settings. The Valid Data bit does not affect this command bit.
Hard Stop
Change this bit from 0 to 1 to stop travel at the maximum deceleration rate. The Valid Data bit
does not affect this command bit.
Valid Data
The SERVOPACK refreshes the command assembly code, response assembly code, and com-
mand data that are received only while the Valid Data bit is set to 1. The Enable, Smooth Stop,
and Hard Stop bits in byte 0 are refreshed regardless of the status of the Valid Data bit.
0: Data is not valid
1: Data is valid
If the Valid Data bit is changed to 0 in a command message when there is a command error,
the Command Error bit in the response message will be cleared to 0.
Enable
The Enable bit controls turning the servo ON and OFF. This bit is level triggered. It must remain
set to 1 whenever the servo is to be ON. Also, if the External Stop command is cleared while
the Enable bit is set to 1, the servo will turn ON immediately.
0: Servo OFF
1: Servo ON
Block Number
Set the Block Number Field to the block number from which to start the command blocks.
Axis Instance
Set the Axis Instance Field to the axis number. Always set the Axis Instance Field to 1. A com-
mand error will occur for any other value.
Command Assembly Code
The command assembly code defines the command data in bytes 4 to 7.
Command Assembly Code
0x00
0x01
0x02
0x03
13-6
Command Data
NOP
Target position (reference units)
Target speed (reference unit/s)
Acceleration rate (reference units/s
Data Types
−
DINT
DINT
2
DINT
)
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