— 12-10 —
CA
: Channel Acceleration
Format
: CA data
Data
Motor series
YS, JS1, JS2, RS
: 0, 0.01 ~ 80.00 [s
-2
]
SS
: 0, 0.01 ~ 100.00 [s
-2
]
AS, BS, JS0
: 0, 0.01 ~ 120.00 [s
-2
]
Default
: 0
l
This command is used to specify the rotational acceleration of a given channel of the internal
program of the designated channel.
l
The CA command is only valid when the CH command designates a channel to be programmed and
the Driver Unit outputs “?__” for command input.
l
If no setting is made in a channel (or 0 is specified), the rotational acceleration specified with an
“MA” command is valid.
l
“TC” command reports the current setting.
◊
If “0 (zero)” is set, no response is displayed.
CC
: Clear Channel
Format
: CC data1
Data1
: 0 ~ 15
Data1 default
: 0
l
CC deletes the program data of a channel specified in “data.”
CH
: Channel Select
Format
: CH data
Data1
: 0 ~ 15
Data1 default
: 0
l
This command is to select the channel to input program.
l
The input program can be read with “TC” command.
Caution : Input program when the system is servo-off state.
CL
: Clear Alarm
Format
: CL
l
“CL” command clears “excess error”, “software thermal” and “program error” alarms. (Other
alarms cannot be cleared with “CL” command.)
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