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DYN2MS-02F-0116A17
7.4 Common Function Details
7.4.2
Constant Speed, Square Wave, Sin Wave
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Turn Constant Speed
Function
(Sent by host)
b[4:0]
Data (Bytes)
Turn_ConstSpeed
0x0a
1~3
The servo motor rotates at constant speed according to the rpm speed set by the Data Bytes. The direction of
rotation is CW (as viewed from shaft side) for positive speed and CCW for negative speed.
Example:
Set command
Motion
Function = 0x0a (Turn_ConstSpeed)
Data = 0x578 (1,400) (use 2 data bytes
B2, B1
)
B2 =
1
000 0101 *MSB must be 1
B1 =
1
111 1000 *MSB must be 1
Servomotor rotates in CW direction (as viewed from shaft
side) at 1,400rpm
Function = 0x0a (Turn_ConstSpeed)
Data = 0xff88 (-120) (use 2 data bytes
B2, B1
)
0xff88 = 0x1111 1111 1000 1000
B2 =
1
111 1111
B1 =
1
000 1000
Servomotor rotates in CCW direction (as viewed from shaft
side) at 120rpm
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Square Wave Motion
Function
(Sent by host)
b[4:0]
Data (Bytes)
Square_Wave
0x0b
1~3
SS_Frequency
0x0d
1~3
The servo motor makes a square wave motion with instantaneous acceleration and deceleration com
-
mand. The amplitude is set by the Square_Wave function Data and the frequency is set by the SS_Fre
-
quency function Data Bytes. The motion is executed as soon as the Square_Wave function is received.
Note that Square_Wave and Sin_Wave shares the same SS_Frequency data value. The square wave
-
form is generated internally within the DYN servo drive.
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Sine Wave Motion
Function
(Sent by host)
b[4:0]
Data (Bytes)
Sin_Wave
0x0c
1~3
SS_Frequency
0x0d
1~3
The servo motor makes a sine wave motion with continuous acceleration and deceleration. The amplitude
is set by the Sin_Wave function Data and the frequency is set by the SS_Frequency function Data Bytes.
The motion is executed as soon as the Sin_Wave function is received. Note that Sin_Wave and Square_
Wave shares the same SS_Frequency data value. The sine waveform is generated internally within the
DYN servo drive.
