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AR
: Absolute Positioning, Resolver
Format
: AR data1/data2
Data1
: Differs with the parameter “PS” setting and Motor type.
Default data1
: 0
Data2
: PL, MI
Default data2
: Direction in which the move distance is shorter
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“data1” indicates the position of the destination. The position, which may be read out by TP2
command, complies with a coordinates in the unit of pulses. Refer to “9.2.1. Position Scale” for
details.
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Format of “data1” range differs with the parameter “PS” setting and the Motor series.
Data range (data1)
YS, JS1, JS2, RS
SS
AS, BS, JS0
PS0
-99 999 999 ~ +99 999 999
-99 999 999 ~ +99 999 999
-99 999 999 ~ +99 999 999
PSn
0 ~ (614 400 × n) -1
0 ~ (491 520 × n) -1
0 ~ (409 600 × n) -1
n = 1 ~ 99, Shipping set : n = 1
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“data 2” indicates the rotational direction. When PS parameter is set to “0 (zero)”, the “data 2” is
invalid.
1)
PL : CW direction (When the parameter “DI1” is set, the direction is CCW.)
2)
MI : CCW direction (When the parameter “DI1” is set, the direction is CW.)
3)
If the “data 2” is omitted, the Motor rotates to the shortest direction to the destination. (If
the current position is the same as the destination, the Motor does not rotate.)
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This command has two functions depending on the usage.
1)
If it is entered in the normal standby condition, it serves as a positioning command.
(when the prompt is “ : __“ )
2)
If it is entered just after the CH command, it can be used as a program data of designated
channel.
(when the prompt is “ ? __”)
AS
: Ask Daisy Chain Status
Format
: AS
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In daisy chain communication, AS reads out the state of axis numbers for respective Driver Units.
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The “AS” command is executed automatically when power is turned on in the daisy chain
communication mode.
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After the “AS” command is executed, the Driver Unit of axis 0 is always selected.
AT
: Automatic Tuning
Format
: AT
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Executes “automatic tuning” to set proper servo parameters and acceleration.
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