Yaskawa Sigma II Indexer - Manual (Page 139)

Sigma II Indexer User’s Manual Serial Command Functions
6-10
SPDnnnnnnnn
Positioning Speed Reservation
Setting Range: 1 d nnnnnnnn d +99999999 [x1000 Reference Unit/min.]
Reserves speed reference. Default speed is set in parameter, Pn81E.
Speed reference value is the set value of parameter Pn81E when the power supply is turned
ON or RES command is executed.
Example:
Reference unit = 0.01mm: When desired position is 15m/min.;
1500mm/min. / 0.01mm =1,500,000 reference units/min.
= 1500 [X1000 reference units/min.]
SPD1500
Note: When reserving a new speed while positioning: the new speed is reserved with the fol-
lowing ST command.
Pos:
OK
Neg:
ExxE
ACCnnnnnnnn
Acceleration Reservation
(Equivalent to “TRM81F =”)
Setting Range: 1 d nnnnnnnn d 99999999 [x 1000 Reference Unit/min./ms]
Default acceleration is set in Pn81F.
Note: Smoothing Filter (Average Movement Filter) set by Pn208 = Movement
Averaging Time = 0 to 6400 [0.01 msec].
Pos:
OK
Neg:
ExxE
DECnnnnnnnn
Deceleration Reservation
(Equivalent to “TRM820 =”)
Setting Range: 1 d nnnnnnnn d 99999999 [x 1000 Reference Unit/min./ms]
Default deceleration is set in Pn820.
Pos:
OK
Neg:
ExxE
Table 6.6: Moving Command
Serial Command Function / Description Answer