common - Sanyo Denki America, Inc.

5. Type R Interface
Command Code4830h
Data Length4 bytes
In-Position width
DAT No Function Setting range Setting unit Initial value
DAT14 In-Position width 0CCCCCCCh ±1Pulse/LSB (Standard 2000P/R h
Sets the in-position width during move commands by Command 38, 3Ah. In-position status results
from reaching the range defined by the target position ± the setting value.
When a zero-return operation is performed, in-position is output at the time of zero-return
completion.
When move commands with push are used, in-position will be output in reference to the push target
position. (Use the motor stop signal function to determine push completion.)
Command Code5032h/5133h Data Length4 bytes
Soft LimitSoft Limit
DAT No Function Setting range Initial value(Hex) Setting unit
DAT1 Limit value Depends on the Maximum 360Setting resolution(P/R)
4
resolution
Command 32hPositive direction Soft Limit value setting
Command 33hNegative direction Soft Limit value setting
Sets the Soft limit as an absolute position.
It is valid if the Soft limit function was enabled by Command 14h.
Setting range
Basic division 500 1000 2000 4000 5000 10000
setting
Pos. direction 3333333 6666666 CCCCCCC 19999999 1FFFFFFF 3FFFFFFF
upper limit value
Neg. direction FCCCCCCD F999999A F3333334 E6666667 E0000001 C0000001
upper limit value
Detection conditions
When a move command is received
If the target position exceeds the limit when a move command is received, a command error is
generated.
During SCAN operation
If the actual position exceeds the limit, a deceleration stop is performed. During the limit state, a
move command in the limit direction will generate a command error. A move command opposite
to the limit direction will be executed normally.
When performing a zero-return operation
Limit is not monitored if the zero-return is incomplete or the zero-return is still in progress.
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