— 8-11 —
B
B
3
3
t
t
y
y
p
p
e
e
B
B
5
5
t
t
y
y
p
p
e
e
2
2
3
3
t
t
y
y
p
p
e
e
2
2
5
5
t
t
y
y
p
p
e
e
8. Glossary of Command and Parameter
CO : Position Error Counter Over Limit
Format
: CO data
Data
: 1 to 99 999 999 [pulse]
Shipping set
: 50 000
Default
: Not available
l
The CO sets the threshold for “Excess position error” alarm.
l
When the position error exceeds the set value, the Driver Unit outputs the excess position error
alarm and opens the DRDY output circuit.
l
The TS or ?CO command reports the current setting.
«
CR : Circular Resolution
Format
: CR data
Data
: X1, X2, X4, 360 000, 36 000, and 3 600
Shipping set
: X1
Default
: Not available
l
Use the CR to specify the resolution of pulse train input.
l
For the details, refer to “6.2.3. Pulse Train Command Positioning Operation.”
l
The resolution changes immediately after the CR data command is entered.
l
The TS or ?CR command reports the current setting.
CS : Acceleration Pattern Select (common setting)
Format
: CS data1, data2
Data range
: 1 to 5
Shipping set
: 1,1
Default
: Not available
l
The CS command selects a pattern of the acceleration profiling.
1: Constant acceleration
2: Modified sine
3: Modified trapezoid
4: Cycloid
5: Half sine
l
data1 sets an accelerating pattern while data2 sets a deceleration pattern.
l
When data2 is default, the pattern of data1 shall be applied to data2.
l
The TS or ?CS command reports the current setting.