— 8-12 —
B
B
3
3
t
t
y
y
p
p
e
e
B
B
5
5
t
t
y
y
p
p
e
e
8. Glossary of Command and Parameter
2
2
3
3
t
t
y
y
p
p
e
e
2
2
5
5
t
t
y
y
p
p
e
e
CS: Acceleration Pattern Select (set to a channel of Programmable Indexer.)
Format
: CS data1, data2
Data range
: 0 to 5
Default
: 0
l
Selects a pattern of the acceleration profiling to the channels of Programmable Indexer.
0: Deletes the CS command programmed to a channel, and take the default setting.
1: Constant acceleration
2: Modified sine
3: Modified trapezoid
4: Cycloid
5: Half sine
l
data1 sets an acceleration pattern, while data2 sets a deceleration pattern.
l
When data2 is default, the pattern of data1will be applied to data2. When either one of data1 or
data2 is omitted, an error occurs.
l
The CS command may be set to the channels CH0 to CH31 for the ESB B5 and 25 Driver Units.
It cannot be set to CH32 to CH63 channels.
l
The TC command reports the current setting.
à
However when “0” is specified, no response will be returned.
l
For details refer to “7.2.8. Acceleration Profiling.”
CV: Channel Velocity
Format
: CV data
Data range
: 0, 0.0001 to 3.0000 [s
-1
]
Default :
0
l
This command specifies the velocity to the program channels of the Programmable Indexer.
l
If no setting is made in a channel (or 0 is specified), a velocity specified with the MV command
is valid
l
The CV parameter is only valid when the CH command designates a channel to be programmed,
and the Driver Unit outputs “?__” for command input.
à
If it is input under normal standby state (The prompt is “:”.), an error will occur.
l
The TC command reports the current setting.
à
If “0 (zero)” is set, no response will be returned
