85
6-2-2 Servo Control Commands
The following commands are used with WRITE(87) for operations between
the PC and PCU.
0
0
c
0
3
2
2
0
1
0
2
0
A
1
0
0
a
Name
c
0
0
A
0
a
b
0
Start
XSRT
YSRT
ISRT
Deceleration
stop
XSTP
YSTP
ISTP
0
A
2
0
b
Jogging
XJOG
YJOG
IJOG
0
A
3
1
a
b
0
A
4
0
0
A
5
1
a
0
Inching
Origin search
Override
XPLS
YPLS
IPLS
XORG
YORG
IORG
XOVR
YOVR
IOVR
a
Format
OP code
OP code
OP code
OP code
OP code
OP code
Function
Positioning
is executed
according to
a position-
ing action
as specified
by the oper-
and.
Stops desig-
nated axes ac-
cording to the
designated ac-
celeration and
deceleration
patterns.
Instructs
jogging for
designated
axes.
Moves the
designated
axis the des-
ignated num-
ber of pulses.
All pulses are
transmitted in
one string.
Performs ori-
gin search on
designated
axes.
Designates
the override
coefficient
for the posi-
tioning
speed.
Description
A.....Axis designation
1: X axis
2: Y axis
3: Both axes
a.....Operand number
0: Address specified according
to internal address counter.
1 to 8: Operand number
9: Extension operand designa-
tion
b.....Positioning action address
(when a = 1 to 8)
b.....Extension operand number
009 to 125 (when a = 9)
c.....Positioning action address
A.....Axis designation
1: X axis
2: Y axis
3: both axes
a.....Acceleration and decelera-
tion patterns: 0 to 9
A.....Axis designation
1: X axis
2: Y axis
3: Both axes
a.....Speed data: 00 to 99
b.....Feeding direction
0: + direction
1: – direction
c.....Acceleration and decelera-
tion patterns: 0 to 9
A.....Axis designation
1: X axis
2: Y axis
3: Both axes
a.....Number of pulses (000 to 999)
b.....Feeding direction
0: + direction
1: – direction
A.....Axis designation
1: X axis
2: Y axis
3: Both axes
A.....Axis designation
1: X axis
2: Y axis
3: Both axes
a.....Override coefficient: 0001
to 9999 (0.1% units)
1
0
2
0
0
3
1
1
0
0
2
0
0
0
2
0
0
1
3
1
1
0
0
0
0
2
5
1
1
5
0
0
0
3
4
0
Examples
Executing start with
X-axis addresses 100
and 102.
Executing deceleration
stop, along both axes,
with acceleration/deceler-
ation pattern 2 (address-
es 462 and 862).
Jogging in the + direc-
tion, along both axes,
with speed no. 12 (ad-
dress 912) and accelera-
tion/deceleration pattern
2 (addresses 462 and
862).
Inching for 100 pulses,
along the X axis, in the +
direction.
Determining the origin
along both axes.
Designating 150% as the
override coefficient along
the Y axis.
1
0
2
0
1
0
0
0
0
1
2
0
Command Descriptions
Section 6-2