M Series AC Servo
User Manual
162
Rev. 1.0
7/31/2019
400-820-9661
3. Sending Command
First Step:
Set velocity mode acceleration register as 40047 = 258h, deceleration register as 40048 = 4B0h, and
velocity register 40049 = 960h.
Host Sending: 01 10 00 2E 00 03 06 02 58 04 B0 09 60 A0 9F
Drive Reply: 01 10 00 2E 00 03 E0 01
Command Message (Master) Command Message (Slave)
Function Data Number Of Bytes Function Data Number Of Bytes
Slave Address 01H 1 Slave Address 01H 1
Function Code 10H 1 Function Code 10H 1
Starting Data Address
00H (High)
2EH (Low)
2 Starting Data Address
00H (High)
2EH (Low)
2
Number of Data
(In word)
00H (High)
03H (Low)
2
Number of Data
(In word)
00H (High)
03H (Low)
2
Number of Data
(In word)
06H 1 CRC Check Low 70 1
Content of first Data
address 40047
02 (High)
58 (Low)
2 CRC Check High 0D 1
Content of second Data
address 40048
04H (High)
B0H (Low)
2
Content of third Data
address 40049
09H (High)
60H (Low)
2
CRC Check Low A0 1
CRC Check High 9F 1
Second Step : Command For Executing Point To Point Motion
Chapter 9.3.7 command Opode describes register 40125
’
s control code. From the SCL code list shows
that for JOG mode, it requires to write data 0x66 to register 40125 to start, and sending 0xD8 to register
40125 to stop.
SCL Command Encoding Table
Function SCL Opcode Parameter 1 Parameter 2 Parameter 3 Parameter 4 Parameter 5
Start Jogging CJ 0x96
× × × × ×
Stop Jogging SJ 0xD8
× × × × ×
Start
Host Sending: 01 06 00 7C 00 96 C8 7C
Drive Reply: 01 06 00 7C 00 96 C8 7C
Stop
Host Sending: 01 06 00 7C 00 D8 48 48
Drive Reply: 01 06 00 7C 00 D8 48 48
To Next Page
Loading...
Need help?
General
