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

5. Commands and Functions
Command Code: 69 (45h)
Data Length: 10 (d) bytes
Zero Return Command
DAT No Function Setting range Setting unit
DAT1 Zero-return type
Rotational direction
Zero-return type: 0 to 4
Rotational direction: 0 to 1
See (1)
0: Positive direction1: Negative direction
DAT2 Zero-return velocity 1 to C8h 1min -1 /ms
DAT3 Zero-return low velocity 1 to C8h 1min -1 /ms
DAT4 to 5 Grid shift Depends on the resolution 1PLS
DAT6 Zero-return push current limit 0 to FFh Setting value (d) /255 x Rated current
DAT7 to 10 Counter preset value Depends on the resolution 1PLS
Initiates zero-return. The acceleration/deceleration rate is set by command code 37h.
DATA NO Bit7 Bit6 Bit5 Bit4 Bit3 Bit2 Bit1 Bit0
DAT1 * * * Rotational direction * Zero-return type
(1) : Zero-return type
Bit2 Bit1 Bit0 Zero-return type
0 0 0 C channel detection
0 0 1 SDN detection
0 1 0 SDN + C channel
0 1 1 Push zero detection
1 0 0 Push + C channel detection
Others
Setting prohibited
* The grid shift setting is signed; for push zero-return type set the grid shift for both the
command direction and reverse direction.
* If zero-sensor (SDN: Type 1, 2) is started, pin 9 will be the zero-sensor input. Refer to command
16h to set the input port function as the zero-sensor signal.
In additionSet command 14h, DAT4, Bit7 (SDN) = 0.
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