— 10-15 —
10.5. RS-232C Position Commands
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You can execute indexing using RS-232C commands. The commands/parameters are shown
below. Refer to “12. Command and Parameter” for more details.
Table 10-8
Command/parameter
Function
IR command
Sets the amount and executes motion (incremental/in the units of pulse)
AR command
Sets the target and executes motion (absolute/in the units of pulse)
HS command
Starts the home return.
HV parameter
Sets the home return velocity.
HA parameter
Sets the home return acceleration.
HO parameter
Sets the home offset value.
HD parameter
Specifies the home return direction.
MA parameter
Sets the acceleration, for indexing.
MV parameter
Sets the velocity, for indexing.
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Indexing Timing
Figure 10-11: Indexing timing
*
MA
MV
RS-232C input
IPOS output
(FW = 0)
Motor movement
Close
Open
Positioning command
CR
*: CR stands for the carriage return code (0DH).
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Under SVON state, as soon as the command is input, the Motor starts indexing. The acceleration
and velocity follow the settings of parameters “MA” and “MV”.
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If the position error counter value is within the in-position limit (set by IN parameter) after
indexing, the IPOS output should be closed.
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