User`s manual

7.7 Serial Commands
7-9
7
Serial Command Communications
7.7.2 Control Commands
The following table shows the control commands.
Control Commands
Serial Command Function/Description
Positive
Response
POS (±) nnnnnnnn
POSA (±) nnnnnnnn
(The + sign can be
omitted.)
Target Position Specification (Absolute Position)
Setting range: −99999999 ≤ nnnnnnnn ≤ [phone] [Reference units]
Specifies the target position as an absolute position.
Note: If a new target position is specified during positioning, the new target position will be
used in the next ST command.
OK
POSI (±) nnnnnnnn
(The + sign can be
omitted.)
Target Position Specification (Relative Distance)
Setting range: −99999999 ≤ nnnnnnnn ≤ [phone] [Reference units]
Specifies the target position as a relative distance.
Note: If a new target position is specified during positioning, the new target position will be
used in the next ST command.
OK
SPDnnnnnnnn
Positioning Speed Specification
Setting range: 1 ≤ nnnnnnnn ≤ [phone] [1000 reference units/min]
Specifies the positioning speed.
After the control power supply is turned ON, the positioning speed set in parameter PnB27 will
be used until the SPD command is executed.
For example, when the reference unit is 0.01 mm and the desired speed is 15 m/min:
15 m/min = 15000 mm/min
= 15000 × 100 reference unit/min
= 1500 [1000 reference unit/min]
SPD1500
Note: If a new positioning speed is specified during positioning, the new speed will become
effective from the next positioning.
OK
POSy or
POSAy
POSz or
POSAz
SPDx
ST
ST
ST
X
0
Speed
Position coordinate
* When the target position is an
absolute position, the axis will not
move if the same positioning is
repeated with ST.
X
0
SPDx
POSIy
ST ST
ST
(y)
(y) (y)
t
b b+y b+2y b+3y
Speed
Position coordinate
* The same positioning is
repeated with ST.