４．OPERATION AND CONTROL METHOD ..................................................................................................................85
4.1 OPERATION BY THE HANDY TERMINAL......................................................................................................................................85
4.1.1 INITIAL SCREEN ............................................................................................................................................................................85
4.1.2 TRANSITION MODE.....................................................................................................................................................................86
4.1.3 DRIVING MODE SELECT（JOG KEY）.............................................................................................................................87
4.1.3.1 CONTINUOUS DRIVING MODE（CNT：CONTINUE MODE）............................................................................87
4.1.3.2 UNIFORM PULSE DRIVING MODE（STP：STEP MODE）................................................................................87
4.1.3.3 ABSOLUTE VALUE DRIVING MODE（ABS：ABSOLUTE MODE）...............................................................88
4.1.3.4 ORIGIN RETURN MODE（ORG：ORIGIN MODE）...............................................................................................88
4.1.3.5 HOME POSITION RETURN MODE（HOM：HOME）..........................................................................................88
4.1.4 MENU SELECT（MENU KEY）..............................................................................................................................................89
4.1.4.1 PARAMETER MODE（PRM）.......................................................................................................................................89
4.1.4.2 PROGRAM DRIVING MODE（PRG）.........................................................................................................................98
4.1.4.3 TEACHING MODE （TCH）.........................................................................................................................................99
4.1.4.4 GENERAL MONITOR（IN）.......................................................................................................................................102
4.1.4.5 GENERAL OUTPUT CONTROL（OUT）..............................................................................................................102
4.1.5 OTHER FUNCTION ..................................................................................................................................................................103
4.1.5.1 CHANGE THE SPEED TABLE（SPD KEY）.......................................................................................................103
4.1.5.2 CHANGE THE AXIS（LINK KEY）............................................................................................................................103
4.1.5.3 CHANGES CURRENT POSITION（POS KEY）...................................................................................................103
4.1.5.4 VERSION CONFIRMATION,PARAMETER RESET..................................................................................................104
4.2 DS102/112 CONTROLLED SOFTWARE（DSCONTROL-WIN）......................................................................105
4.2.1 DSCONTROL-WIN START-UP...................................................................................................................................105
4.2.2 PARAMETER SET-UP ............................................................................................................................................................105
4.2.3 JOG DRIVING.............................................................................................................................................................................107
4.2.4 TEACHING .................................................................................................................................................................................110
4.2.5 DRIVING PROGRAM ................................................................................................................................................................112
4.2.6 Ｉ／Ｏ MONITOR.....................................................................................................................................................................118
4.3 USER PROGRAM PROCESSING...................................................................................................................................................119
4.3.1 RS232C ................................................................................................................................................................................119
4.3.2 USB...........................................................................................................................................................................................120
4.3.3 DELIMITER..................................................................................................................................................................................122
4.3.4 TYPES OF COMMUNICATION COMMAND........................................................................................................................123
4.3.5 DETAILS OF COMMUNICATION COMMAND ..................................................................................................................135
4.3.5.1 AXIS SPECIFICATION COMMAND..............................................................................................................................135
4.3.5.2 PARAMETER SETTING COMMAND...........................................................................................................................135
4.3.5.3 MEMORY SW SETTING COMMAND........................................................................................................................139
4.3.5.4 SPEED TABLE SETTING COMMAND......................................................................................................................140
4.3.5.5 WRITE COMMAND .........................................................................................................................................................141
4.3.5.6 DRIVING COMMAND......................................................................................................................................................141
4.3.5.7 STOP COMMAND...........................................................................................................................................................142
4.3.5.8 PARAMETER SETTING REQUEST COMMAND ....................................................................................................143
4.3.5.9 MEMORY SW SETTING REQUEST COMMAND ..................................................................................................145
4.3.5.10 SPEED TABLE SETTING REQUEST COMMAND..............................................................................................147
4.3.5.11 STATUS REQUEST COMMAND.............................................................................................................................147
4.3.5.12 GENERAL I/O COMMAND.......................................................................................................................................152
4.3.6 PROGRAM DRIVING DEDICATED COMMAND...............................................................................................................153
4.3.7 ERROR CODE ...........................................................................................................................................................................156
