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DC
: Digital RS-232C Command
Format
: DC data
Data
: -4 095 ~ 4 095 (data polarity in + value : CW direction)
Default
: 0
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This command is to input directly the operation command through RS-232C communication
interface in velocity or torque control mode.
However, the use of this command shall be limited to an ordinal operation or a testing operation of
the Motor due to sluggish response.
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If “DC” command is input when an analog command (“AC” command) is valid, “DC
INHIBITED” message will be given and the command will be invalidated.
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The data of this command is cleared to “0” in following state.
1)
Servo off
2)
Emergency stop
3)
Overtravel limit
4)
Control mode selection
5)
Analog command is valid.
Caution : When the position scale direction is reversed by the parameter DI, the sign of
data of DC command is also reversed.
«
DI
: Direction Inversion
Format
: DI data
Data
: 0 or 1
Shipping set
: 0
Default
: 0
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Switches the position scale coordinate counting direction.
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For the details, refer to “9.2.1. Position Scale .”
«
FC
: Friction Compensation
Format
: FC data
Data
: 0 ~ 2 047
Shipping set
: 0
Default
: 0
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“FC” is used to specify a compensation value to cancel rotational static friction of the Motor.
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If 0 is specified in “data,” the function is deactivated.
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Parameter FC can be obtained with the formula shown below.
Static friction torque
FC “data” = 2 047 ×
Motor maximum torque
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The setting can be read with “TS” or “?FC” command.
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