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5. Type R Interface <br />
Command Code6642h<br />
Data Length13(d) bytes<br />
<strong>Inc</strong>remental Move Command (with velocity, acc / dec. rate, push specifications) <br />
DAT No Function Setting range Initial value Setting unit<br />
DAT12 Velocity 01194h04500 min 1 min <br />
DAT3 Acceleration rate 1FFh 1min ms<br />
DAT4 Deceleration rate 1FFh 1min ms<br />
DAT58 travel distance Depends on the resolution 1Pulse<br />
DAT9 Push current 0FFh 0no push<br />
0≠setting value(d)/255×Rated current<br />
DAT10<br />
13<br />
Positioning width 07FFFFFF PULSE2000P/R Fixed<br />
When DAT90In-Position width<br />
When DAT9≠0Travel distance with push<br />
Specifies the incremental move. The rotation direction is determined by the sign of the move command.<br />
(+ = positive direction, = Negative direction)<br />
<strong>Inc</strong>remental travel distance setting range<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 the incremental travel distance is 0, do not set the push travel distance to value other than 0.<br />
Command Code6844h<br />
Data Length13(d) byte<br />
Absolute Move Command (with velocity, acc/dec. rate, push specifications)<br />
DAT No Function Setting range Initial value Setting unit<br />
DAT12 Velocity 01194h04500 min 1 min <br />
DAT3 Acceleration rate 1FFh 1min ms<br />
DAT4 Deceleration rate 1FFh 1min ms<br />
DAT58 Absolute position Depends on the resolution 1Pulse<br />
DAT9 Push current 0FFh 0 no push<br />
0≠setting value(d)/255×Rated current<br />
DAT10 Positioning 07FFFFFF PULSE2000P/R Fixed<br />
13 width<br />
When DAT90In-Position width<br />
When DAT9≠0Travel distance with push<br />
Specifies the absolute move. The rotation direction is determined by the current position and the<br />
specified position at the time of the command. Command position>Current position: Positive direction<br />
Command position