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5. Type R Interface 6Move Commands Command Code5436h Data Length2 bytes Velocity DAT No Function Setting range Initial value(Hex) Setting unit DAT12 Velocity 01194h04500 min 28h40 min 1 min This command is used to specify the operation velocity initiated by Command 38h, 3Ah, and to modify the velocity of an operation. Command Code5537h Data Length2 bytes Acceleration / Deceleration Rate DAT No Function Setting range Initial value(Hex) Setting unit DAT1 Acceleration 0FFh 1 1min ms DAT2 Deceleration 0FFh 1 1min ms This command is used to specify the acceleration or deceleration rate for Command 38h, 3Ah and zero-return, and to modify the acceleration or deceleration rate during an operation. Command Code5638h Data Length4 bytes Incremental Move (without options) DAT No Function Setting range Initial value(Hex) Setting unit DAT14 Incremental move travel distance Depends on the resolution 1PULSE Initiates an incremental move. The rotation direction is determined by the sign of the move command. (+ = positive direction, = negative directionThe velocity, acceleration or deceleration rate are set by Commands 36h and 37h. Incremental travel distance setting rangedepends on the resolution as shown below Basic division setting 500 1000 2000 4000 5000 10000 Pos. upper limit value 3333333 6666666 CCCCCCC 19999999 1FFFFFFF 3FFFFFFF Neg. upper limit value FCCCCCCD F999999A F3333334 E6666667 E0000001 C0000001 If used during operation, it will be treated as an additional move command. The travel distance will be added to the original target position before the additional move command. Command Code583Ah Data Length4 bytes Absolute Move Command (without option) DAT No Function Setting range Initial value(Hex) Setting unit DAT14 Absolute position Depends on the resolution 1PULSE Initiates an absolute position move. The rotation direction is determined by the current position and the command position at the time of the command Command positionCurrent positionPositive direction Command positionCurrent positionNegative direction The velocity, acceleration and deceleration rate are set by Command 36, 37h. Absolute travel distance setting range (Depends on the resolution as shown below) Basic division setting 500 1000 2000 4000 5000 10000 Pos. upper limit value 3333333 6666666 CCCCCCC 19999999 1FFFFFFF 3FFFFFFF Neg. upper limit value FCCCCCCD F999999A F3333334 E6666667 E0000001 C0000001 541
5. Type R Interface Command Code623Eh Data Length6 bytes Slow Move Command DAT No Function Setting range Setting unit DAT1 Velocity 64h 1min DAT2 Current limit 0FF Setting value(d)/255× Rated current DAT36 Incremental move travel distance See below 1PULSE/LSB Initiates slow movement by open control. Use this command if a velocity change during a slow operation causes problems. Incremental travel distance setting range Basic division setting 500 1000 2000 4000 5000 10000 Pos. upper limit value 3333333 6666666 CCCCCCC 19999999 1FFFFFFF 3FFFFFFF Neg. upper limit value FCCCCCCD F999999A F3333334 E6666667 E0000001 C0000001 If a slow move command is entered as an additional command during operation, the slow move will start after the current operation is completed. The in-position signal will be output when the slow move operation completed. If there is a position drift during slow move operation, the control will switch to close-control mode. Command Code6440h Data Length6(d) bytes Continuous Rotation Command DAT No Function Setting range Initial value Setting unit DAT1 Rotational direction 01 0Positive direction 1Negative direction DAT23 Velocity 01194h04500 min 1 min DAT4 Acceleration rate 1FFh 1min ms DAT5 Deceleration rate 1FFh 1min ms DAT6 Push current 0FFh 0no push 0≠setting value(d)/255×Rated current Initiates continuous rotation. If the push current limit is other than 0, overload will not be detected during SCAN operation. Push completion can be detected by the PEND, STEND output or the END signal. The in-position signal will stay the same as it was during operation. There is no error detection performed during SCAN push operation. Note) If this function is used for continuous rotation or in a single direction only, use command code 14h, DAT4, Bit0=0 to enable Wrap Around. Command Code6541h Data Length0 byte Continuous Rotation Stop Specifies the stop of a continuous rotation. While receiving the command, the motor will decelerate to a stop using the deceleration rate set for the SCAN operation. The stop position becomes the target position. 542
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M0007846 SANMOTION CLOSED LOOP STEP
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Contents 1. Safety Pre
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Safety Precautions common 1.1 Int
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Safety Precautions common 1.3 Safet
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Safety Precautions common Operati
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2. Model Number Specifications (com
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2. Model Number Specifications (com
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D5 6 7 8 9 A B C 3. Installation /
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3. Installation / Wiring (common)
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Pulse Train Input Interface
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4. Pulse Train Input Interface
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7. Options 7. O
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7. Options 7.2.3
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7. Options 7.3 O
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8. International Standards Conformi
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common - Sanyo Denki America, Inc.

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