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

5. Commands and Functions
5. 5 Point and Program Commands
5. 5. 1 Point and program control commands
Command Code: 80 (50h)
Data Length:0 bytes
START Command
This command remotely starts the point or program previously specified with 55h.
Before using the START command, always set the execution target using 55h.
Command Code: 81 (51h)
STEP Operation
Data Length: 3 bytes
DAT No Function Setting range Setting unit
DAT1 Program number When 1 PRG selected: 0
When 128 PRG selected: 0 to 7Fh
When 32PRG selected: 0 to 1Fh
DAT2,3 Line number When 1 PRG selected: 0 to 3FFh
When 128 PRG selected: 0 to 8
When 32PRG selected: 0 to 1Fh
This command specifies the STEP operation (line by line execution) of the program.
Note that the range for program number and line number depends on the settings performed by
command 1Bh.
Response:
As a response to the STEP operation command, the next executable line (2 bytes) is returned. The
response format is the following:
Packet length Address Response status Line number Line number Checksum
(lower)
(higher)
* If the STEP operation is executed in the middle of a Gosub/Return command, and the next
executable line is unknown, the response will be FFFF.
When a Timer Wait is executed in STEP mode, the setting time of the Timer will be disabled.
Command Code: 82 (52h)
Data Length:0 bytes
Program Stop
This command aborts the program operation. The amplifier maintains the servo ON status.
* Program lines that have already started execution will not be aborted. To abort the movement itself,
use the STOP command.
* The Program stop command can only be used during program execution; otherwise, a command
error will be generated.
* Refer to command code 8Ah to read the stopped program line.
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