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4. OPERATION
4.2.2 Programming language
The maximum number of program steps is 120. Though up to 16 programs can be created, the total
number of program steps is up to 120.
The set program can be selected using Program No. selection 1 (DI0) to Program No. selection 4 (ID3).
(1) Command list
Command Name Setting
Setting
range
Unit
Indirect
Addressing
Description
SPN
(Note 2)
Speed
(Motor speed)
SPN
(Set value)
0 to
Max
speed
r/min
Use to set the command speed given to the motor for
positioning.
The set value shoud not be more than the maximum
speed of the motor.
STD
(Note 2)
S-pattern
Acceleration/
Deceleration
time constant
STD
(Set value)
0 to 100 ms
S-pattern acceleration/deceleration time constant.
Set this command when inserting an S-pattern time
constant for the acceleration/deceleration time
constant of the program.
STC
(Note 2)
Acceleration/
Deceleration
time constant
STC
(Set value)
0 to 20000 ms
Use to set both the acceleration time constant and
deceleration time constant.
The set value is the time from when the used servo
motor is at a stop until it reaches the rated speed, or
the time from when the servo motor is running at the
rated speed until it stops.
When this command is used, the acceleration time
constant and deceleration time constant are equal.
"STA" and "STB" commands can set the acceleration
time constant and deceleration time constant
individually. It can not be changed during command
output.
STA
(Note 2)
Acceleration
time constant
STA
(Set value)
0 to 20000 ms
Use to set the acceleration time.
The set value is the time from when the used servo
motor is at a stop until it reaches the rated speed.
It can not be changed during command output.
STB
(Note 2)
Deceleration
time constant
STB
(Set value)
0 to 20000 ms
Use to set the deceleration time constant.
The set value is the time from when the servo motor
is running at the rated speed until it stops.
It can not be changed during command output.
MOV
Absolute move
command
MOV
(Set value)
-999999
to 999999
10
STM
m
The set value is regarded as an absolute value for
movement.
MOVA
Absolute
continuous
move
command
MOVA
(Set value)
-999999
to 999999
10
STM
m
The set value is regarded as an absolute value for
continuous movement.
Always use this command with the "MOV" command.
MOVI
Incremental
move
command
MOVI
(Set value)
-999999
to 999999
10
STM
m
The set value is regarded as an incremental value for
movement.