— 8-12 —
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8. Glossary of Command and Parameter
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CS: Acceleration Pattern Select (set to a channel of Programmable Indexer.)
Format : CS data1, data2
Data range : 0 to 5
Default : 0
l Selects a pattern of the acceleration profiling to the channels of Programmable Indexer.
0: Deletes the CS command programmed to a channel, and take the default setting.
1: Constant acceleration
2: Modified sine
3: Modified trapezoid
4: Cycloid
5: Half sine
l data1 sets an acceleration pattern, while data2 sets a deceleration pattern.
l When data2 is default, the pattern of data1will be applied to data2. When either one of data1 or
data2 is omitted, an error occurs.
l The CS command may be set to the channels CH0 to CH31 for the ESB B5 and 25 Driver Units.
It cannot be set to CH32 to CH63 channels.
l The TC command reports the current setting.
à However when “0” is specified, no response will be returned.
l For details refer to “7.2.8. Acceleration Profiling.”
CV: Channel Velocity
Format : CV data
Data range : 0, 0.0001 to 3.0000 [s
-1
]
Default : 0
l This command specifies the velocity to the program channels of the Programmable Indexer.
l If no setting is made in a channel (or 0 is specified), a velocity specified with the MV command
is valid
l The CV parameter is only valid when the CH command designates a channel to be programmed,
and the Driver Unit outputs “?__” for command input.
à If it is input under normal standby state (The prompt is “:”.), an error will occur.
l The TC command reports the current setting.
à If “0 (zero)” is set, no response will be returned
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