Table of Contents
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Appendices
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
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