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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
3
t
y
p
e
2
5
t
y
p
e
2
3
t
y
p
e
2
5
t
y
p
e
6.2.5. RS-232C Communication Positioning Operation
l Positioning may be executed directly through the RS-232C interface. Commands and parameters
are listed in Table 6-13. Refer to "8. Glossary of Command and Parameter" for the details.
Table 6-13
Command/Paramet
ID command
IR command
AD command
AR command
HS command
HV parameter
HA parameter
HO parameter
HD parameter
MA parameter
MV parameter
SE parameter
à Refer to "7.3. RS-232C Communication" for the details of RS-232C communication with the
master controller.
à In case of the positioning with RS-232C position command, be sure to set the parameter SE to
SE1 or SE2 in order to notify outside of abnormality of RS-232C communication.
！ Caution: Please note that there is the limit of the number of times of overwriting
à The Driver Unit has an EEPROM for the data backup. The EEPROM has the limitation on the
number of times for writing/deleting the data. (Approximately 500 000 times) Therefore, we
recommend setting the parameter WM to prohibit writing to the EEPROM when the internal
parameters are frequently changed from the master controller during operation. However,
frequent changes in parameters that do not require the backup will not affect the life of the
EEPROM.
er
Sets the motion distance and executes positioning. (Incremental/in units of degree)
Sets the motion distance and executes positioning. (Incremental/in units of pulse)
Sets the motion distance and executes positioning. (Absolute/in units of degree)
Sets the motion distance and executes positioning. (Absolute/in units of degree)
Starts Home Return.
Sets Home Return velocity.
Sets Home Return acceleration.
Sets Home Return offset.
Sets Home Return direction.
Sets rotational acceleration.
Sets rotational velocity.
RS-232C error alarm output format
* The number of pulse for AR or IR command will be 819 200 pulses per revolution.
the parameters to the memory.
6.2.5. RS-232C Communication Positoining Operation
Function
— 6-29 —
6.2. Position Control Mode Operation
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