— 10-17 —
10.2.4. RS-232C Position Commands
l
You can execute indexing using RS-232C commands. The commands/parameters are shown
below. Refer to “12. Commands and Parameter” for more details.
Table 10-10
Command/
parameter
Function
ID command
Sets the target and executes rotation (incremental/in the units of degree)
IR command
Sets the target and executes rotation (incremental/in the units of pulse)*
AD command
Sets the target and executes rotation (absolute/in the units of degree)
AR command
Sets the target and executes rotation (absolute/in the units of pulse)*
HS command
Starts Home Return.
HV parameter
Sets Home Return velocity.
HA parameter
Sets Home Return acceleration.
HO parameter
Sets the home offset value.
HD parameter
Specifies Home Return direction.
MA parameter
Sets the acceleration, for indexing.
MV parameter
Sets the velocity, for indexing.
* : The table below lists the number of pulses per rotation of the IR command.
Table 10-11 : Motor type and resolution
Motor series
Resolution
YS, JS1, JS2, RS
614 400
SS
491 520
AS, BS, JS0
409 600
u
Indexing Timing
Figure 10-10 : Indexing timing
*
MA
MV
RS-232C input
IPOS output
(FW = 0)
Motor rotation
Close
Open
Positioning command
CR
* : CR stands for the carriage return code (0D
H
).
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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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