— 10-17 —
10.2.4. RS-232C Position Commands
l You can execute indexing using RS-232C commands. The commands/parameters are shown
below. Refer to “12. Commands and Parameter” for more details.
Table 10-10
Command/
parameter
Function
ID command Sets the target and executes rotation (incremental/in the units of degree)
IR command Sets the target and executes rotation (incremental/in the units of pulse)*
AD command Sets the target and executes rotation (absolute/in the units of degree)
AR command Sets the target and executes rotation (absolute/in the units of pulse)*
HS command Starts Home Return.
HV parameter Sets Home Return velocity.
HA parameter Sets Home Return acceleration.
HO parameter Sets the home offset value.
HD parameter Specifies Home Return direction.
MA parameter Sets the acceleration, for indexing.
MV parameter Sets the velocity, for indexing.
* : The table below lists the number of pulses per rotation of the IR command.
Table 10-11 : Motor type and resolution
Motor series Resolution
YS, JS1, JS2, RS 614 400
SS 491 520
AS, BS, JS0 409 600
u Indexing Timing
Figure 10-10 : Indexing timing
RS-232C input
IPOS output
(FW = 0)
Motor rotation
Close
Positioning command
* : CR stands for the carriage return code (0DH).
l Under SVON state, as soon as the command is input, the Motor starts indexing. The acceleration
and velocity follow the settings of parameters “MA” and “MV”.
l If the position error counter value is within the in-position limit (set by IN parameter) after indexing,
the IPOS output should be closed.
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