— 6-16 —
B
B
3
3
t
t
y
y
p
p
e
e
B
B
5
5
t
t
y
y
p
p
e
e
6.2.. Position Control Mode Operation
6.2.2.2. Programmable Indexer Positioning Operation
2
2
3
3
t
t
y
y
p
p
e
e
2
2
5
5
t
t
y
y
p
p
e
e
6.2.2.2. Programming
l Programming for Programmable Indexer positioning shall be executed through the RS-232C
communication. Execute programming while stopping the programmed positioning.
l For the B3 and 23 type Driver Units, there are 16 (0 to 15) channels of program area.
l There are 64 (0 to 63) channels of program area for the B5 and 25 type Driver Units.
Figure 6-11: Program area
[B3 and 23 Driver Units ] [B 5 and 25 Driver Units]
Channel 0 CH0 Channel 0 CH0
Channel 1 CH1 Channel 1 CH1
·· ··
·· ··
Channel 15 CH15 · ·
··
Channel 63 CH63
1 Parameters for command and condition setting
u Home Return
Command : HS
Condition parameter : None
l Programs the Home Return.
l Command format : HS seq
seq: Sequence code (*, &)
l The Motor rotates along the set condition such as Home Return velocity (HV), Home Return
acceleration (HA), and Home Return Near-Zero velocity (HZ).
！
Caution: Parameter HD changes direction of the Home return.
à HD0: CW direction
à HD1: CCW direction (shipping set)
* Program example
:CH0
HS
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