User`s manual

7 Serial Command Communications
7.7.2 Control Commands
7-10
ACCnnnnnnnn
Acceleration Specification
Setting range: 1 ≤ nnnnnnnn ≤ [phone] [1000 (reference units/min)/ms]
Note: The acceleration setting in parameter PnB29 can also be used. Executing the command
ACCnnnnnnnn is the same as executing TRMB29 = nnnnnnnn.
OK
DECnnnnnnnn
Deceleration Specification
Setting range: 1 ≤ nnnnnnnn ≤ [phone] [1000 (reference units/min)/ms]
Note: The deceleration setting in parameter PnB2B can also be used. Executing the command
DECnnnnnnnn is the same as executing TRMB2B = nnnnnnnn.
OK
ST
Positioning Start
Starts positioning with the speed specified by the SPD command and the target position speci-
fied by the POS, POSA, or POSI command.
The target position specification and speed specification can be omitted. In this case, the previ-
ous positioning will be repeated.
Error E51E will occur if the ST command is executed but the target position hasn’t been speci-
fied even once. If the ST command is executed but the speed hasn’t been specified even once,
the speed specified in parameter PnB27 will be used.
When positioning has been stopped with the HOLD command, the positioning will be restarted
(the hold will be cleared) if the ST command is executed.
Example 1:
POSI + nnnnnnnn: Target Position Specification
SPDnnnnnnnn: Positioning Speed Specification
ST: Positioning Start
ST: Repeat
Example 2:
POSI + nnnnnnnn: Target Position Specification
ST: Positioning Start (using the speed specified in PnB27)
Example 3:
POSI + nnnnnnnn: Target Position Specification
ST: Positioning Start
HOLD: Positioning Interruption
ST: Positioning Restart (Clear Hold)
Note: An E53E error will occur if a new move command such as the ST command is received
while the motor is already moving (positioning or other moving operation). Execute a
move command such as the ST command only after the previous moving operation has
been completed.
OK
Control Commands (cont’d)
Serial Command Function/Description
Positive
Response
V
t
1 t2 t3 t4
Speed
reference
Time
t
2
- t
1
[ms]
V [× 1000 reference units/min]
Acceleration =
t
4
- t
3
[ms]
V [× 1000 reference units/min]
Deceleration =