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CA : Channel Acceleration
Format : CA data
Data
Motor series
YS, JS1, JS2, RS : 0, 0.01 ~ 80.00 [s
-2
]
SS : 0, 0.01 ~ 100.00 [s
-2
]
AS, BS, JS0 : 0, 0.01 ~ 120.00 [s
-2
]
Default : 0
l This command is used to specify the rotational acceleration of a given channel of the internal
program of the designated channel.
l The CA command is only valid when the CH command designates a channel to be programmed and
the Driver Unit outputs “?__” for command input.
l If no setting is made in a channel (or 0 is specified), the rotational acceleration specified with an
“MA” command is valid.
l “TC” command reports the current setting.
◊ If “0 (zero)” is set, no response is displayed.
CC : Clear Channel
Format : CC data1
Data1 : 0 ~ 15
Data1 default : 0
l CC deletes the program data of a channel specified in “data.”
CH : Channel Select
Format : CH data
Data1 : 0 ~ 15
Data1 default : 0
l This command is to select the channel to input program.
l The input program can be read with “TC” command.
Caution : Input program when the system is servo-off state.
CL : Clear Alarm
Format : CL
l “CL” command clears “excess error”, “software thermal” and “program error” alarms. (Other
alarms cannot be cleared with “CL” command.)
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