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4-2-11 R command
(Return to logical origin command)
(1) Function
This command indicates a setting of logical origin (coordinate value
０
) to the stage of the designated
axis number based on the current position.
When this command is sent under condition of busy and unconnected of axis, it will be responsed by
NG as a command error and all command will stop to operate.
(2) Example
R
：
p1,p2,p3
p
：
0,1 or abbreviated
1 is to set the logical origin to the stage of the axis number. 0 or
abbreviated are NOP(No Operation)
R
：
0,1,1
means to set the logical origin (coordinate value
０
) to the stage of the
axis number 2 and 3.
4-2-12 D command
(Speed setting command)
(1) Function
This command indicates a speed setting to the designated axis number. It is unable to set the multiple
number of axes at the same time.
When this command is sent under busy condition of axis, it will be responsed by NG as a command
error and all command will stop to operate.
(2) Example
D
：
axis,s,f,r
axis
：
axis number
1
～
3
s
：
Start-up speed (Initial speed)
range of setting: 1
～
999999999 (unit : 0.01[
μ
m/s])
f
：
Maximum speed
range of setting: 1
～
999999999 (unit : 0.01[
μ
m/s])
r
：
Acceleration / deceleration time
range of setting:1
～
1000 (unit : [ms])
Note : the condition of s<=f
*) Maximum speed (calculated by pulse) is 4000000[pulse/s]. In case of over speed setting (travel
：
0.01[
μ
m/s] unit), OK will be returned, but it will be treated as speed of 4000000[pulse/s].
D
：
3,20000,200000,200
means Start-up speed : 0.2[mm/s], 2[mm/s] : Maximum speed, 200[ms] :
Acceleration / deceleration time to axis No3.
