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5. Type R Interface <br />
6Move Commands<br />
Command Code5436h<br />
Data Length2 bytes<br />
Velocity <br />
DAT No Function Setting range Initial value(Hex) Setting unit<br />
DAT12 Velocity 01194h04500 min 28h40 min 1 min <br />
This command is used to specify the operation velocity initiated by Command 38h, 3Ah, and to modify the velocity of an operation.<br />
Command Code5537h<br />
Data Length2 bytes<br />
Acceleration / Deceleration Rate <br />
DAT No Function Setting range Initial value(Hex) Setting unit<br />
DAT1 Acceleration 0FFh 1 1min ms<br />
DAT2 Deceleration 0FFh 1 1min ms<br />
This command is used to specify the acceleration or deceleration rate for Command 38h, 3Ah and zero-return, and to modify<br />
the acceleration or deceleration rate during an operation.<br />
Command Code5638h<br />
Data Length4 bytes<br />
<strong>Inc</strong>remental Move (without options)<br />
DAT No Function Setting range Initial value(Hex) Setting unit<br />
DAT14 <strong>Inc</strong>remental move travel distance Depends on the resolution 1PULSE<br />
Initiates an incremental move. The rotation direction is determined by the sign of the move command. (+ = positive direction,<br />
= negative directionThe velocity, acceleration or deceleration rate are set by Commands 36h and 37h.<br />
<strong>Inc</strong>remental travel distance setting rangedepends on the resolution as shown below<br />
Basic division setting 500 1000 2000 4000 5000 10000<br />
Pos. upper limit value 3333333 6666666 CCCCCCC 19999999 1FFFFFFF 3FFFFFFF<br />
Neg. upper limit value FCCCCCCD F999999A F3333334 E6666667 E0000001 C0000001<br />
If used during operation, it will be treated as an additional move command. The travel distance will be added to the<br />
original target position before the additional move command.<br />
Command Code583Ah<br />
Data Length4 bytes<br />
Absolute Move Command (without option) <br />
DAT No Function Setting range Initial value(Hex) Setting unit<br />
DAT14 Absolute position Depends on the resolution 1PULSE<br />
Initiates an absolute position move. The rotation direction is determined by the current position and the<br />
command position at the time of the command<br />
Command positionCurrent positionPositive direction Command positionCurrent positionNegative direction<br />
The velocity, acceleration and deceleration rate are set by Command 36, 37h.<br />
Absolute travel distance setting range (Depends on the resolution as shown below)<br />
Basic division setting 500 1000 2000 4000 5000 10000<br />
Pos. upper limit value 3333333 6666666 CCCCCCC 19999999 1FFFFFFF 3FFFFFFF<br />
Neg. upper limit value FCCCCCCD F999999A F3333334 E6666667 E0000001 C0000001<br />
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