5. Commands and Functions - Sanyo Denki America, Inc.

5. Commands and Functions
Command Code: 64 (40h)
Data Length: 6 bytes
Continuous Rotation (SCAN) Command
DAT No Function Setting range Setting unit
DAT1 Rotational direction 0 to 1 0: Positive direction; 1: Negative direction
DAT2, 3 Velocity 0 to 1194h
1min -1 /LSB
(0-FA0 for 80 motors)
DAT4 Acceleration rate 1 to FFh 1min -1 /ms/LSB
DAT5 Deceleration rate 1 to FFh 1min -1 /ms/LSB
DAT6 Push current limit 0 to FFh (0=no push Setting value (d) /255 x Rated current
current limit)
Initiates continuous rotation
* If the push current limit is other than 0, overload will not be detected during SCAN operation.
* Push completion can be detected by the motor stop signal output or by the END signal. The in-position
signal will stay the same as it was during operation.
* There is no error detection performed during SCAN push operation.
Note) If this function is used for continuous rotation in a single direction only, use command code
14h, DAT4, Bit0=0 to enable Wrap Around.
Command Code: 65 (41h)
Data Length: 0 bytes
Continuous Rotation (SCAN) Stop
Specifies the stop of a continuous rotation.
While receiving the command, the motor will decelerate to a stop using the deceleration rate set for the
SCAN operation. The stop position becomes the target position.
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