5. HOW TO USE THE PROGRAM
5 - 7
5.2.2 Program language
The maximum number of steps of a program is 480. Up to 16 programs can be created; however, the total
number of the steps of all programs must be 480 or less.
A set program is selectable by using DI0 (Program No. selection 1) to DI3 (Program No. selection 4).
(1) Command list
Command Name Setting Setting range Unit
Indirect
specification
(Note 7)
Description
SPN
(Note 2)
Servo motor
speed
SPN (Setting
value)
0 to permissible
instantaneous
speed
3000
r/min
Set the servo motor command speed for
positioning.
The setting value must be the permissible
instantaneous speed or less of the servo
motor used.
If the setting value is unspecified, the servo
motor rotates at 50 r/min.
STA
(Note 2)
Acceleration
time constant
STA (Setting
value)
0 to 20000 ms
Set the acceleration time constant. The setting
value is a time period which the servo motor
takes from a stop to the rated speed.
The value cannot be changed during a
command output.
If the setting value is unspecified, 1000 ms is
applied.
STB
(Note 2)
Deceleration
time constant
STB (Setting
value)
0 to 20000 ms
Set the deceleration time constant. The setting
value is a time period which the servo motor
takes from the rated speed to a stop.
The value cannot be changed during a
command output.
If the setting value is unspecified, 1000 ms is
applied.
STC
(Note 2)
Acceleration/
deceleration
time constant
STC (setting
value)
0 to 20000 ms
Set the acceleration/deceleration time
constants.
The setting value is a time period which the
servo motor takes from a stop to the rated
speed, and from the rated speed to a stop.
When this command is used, the same value
is applied for both the acceleration time
constant and the deceleration time constant.
To set the acceleration/deceleration time
constants individually, use the "STA" and
"STB" commands.
The value cannot be changed during a
command output.
If the setting value is unspecified, 1000 ms is
applied.
STD
(Note 2, 5)
S-pattern
acceleration/
deceleration
time constant
STD (Setting
value)
0 to 1000 ms
Set the S-pattern acceleration/deceleration
time constants.
Set this command to insert S-pattern
acceleration/deceleration time constants to the
acceleration/deceleration time constants of the
program.
MOV
Absolute
value travel
command
MOV
(setting
value)
-999999
to 999999
(Note 6)
×10
STM
μm
(Note 6)
The servo motor rotates using the set value as
the absolute value.
MOVA
Absolute
value
continuous
travel
command
MOVA
(setting
value)
-999999
to 999999
(Note 6)
×10
STM
μm
(Note 6)
The servo motor rotates continuously using
the set value as the absolute value. Make sure
to describe this command after the "MOV"
command.
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