Chapter 2 Functions
HA-675_V3_02
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●
Command
The commands of program mode are divided into two groups:
◆
Motion
commands:
This group relates to actuator motion profile. The commands are programmed in the addresses
having a position.
SPD: speed
POS:
INC
increments,
ABS
positions
CHP:
speed changing position
SLP: acceleration
time
DIV: indexing
TIM: delay
time
Note: Symbol
INC
and
ABS
indicates the methods for increments of the position command.
◆
Logical
commands:
This group control logic of addresses. Motion commands are inhibited to program in the address
having a logic command.
JMP: jump
LOP: repeat
cycle
NOP: no
operation
END:
end of motion
●
Specifying increments and positions
For specifying increments and postions, both types
of absolute values and incremental values are
acceptable. Absolute value means the absolute
positional distance from the origin, and incremental
value means between the specified target position
and the current position.
To specify a stop position, the [POS] command is
programmed.
The [CHP] command is programmed for passing
positions where speed may be changed without
stopping.
Usually, for the motion profile having high speed
feeding and creap speed positioning the [POS]
command is programmed followed by the [CHP]
commands.
Addresses which the [CHP] command is programmed are allowed to seriate up to four addresses, but
not allowed five or more ones. If five or more addresses including the [CHP] command are seriately
programmed, the alarm [04: programming error] may occurs at execution of the program..
◆
Units of increments and positons
The unit of the increments and positions is selectable from the three as follows:
0: pulse
1: angular unit (1/1000
°
)
2: linear unit (1/100 mm)
◆
Units of speed
The unit of speed is selectable from the two as follows:
0:
p/s
1:
rotary speed (1/100 r/min)
Stop position
Speed
CHP
Stop position
Speed
POS
CHP
POS