JEL-Leading Manufacturer of Clean Robot

Communication Software

Q: How to change speed parameters with commands? (Applicable models: SHR and STHR)

A:

1. Confirming the communication establishment

  1. Turn on the controller.
  2. Connect the RS232C connector of the controller to the RS232C port of a PC using a RS232C straight cable.
  3. Start the software JELDATA3.
  4. Enter the following command in the lower part of the communication tab.
  5. Enter:
    $1
    Response:
    >$100 (OK)
    * No response (NG: Check the communication port of PC.)

2. Confirming and changing speed parameters

Order:
  1. Specifying a motor axis
  2. Confirming a speed parameter
  3. Changing a speed parameter
  4. Confirming a speed parameter
Table: Motor axis numbers and speed parameter commands
Motor axis number
1 Arm 1
2 Theta
3 Arm 2
4 Z-axis
Speed parameter command
OH High speed parameter
OL Low speed parameter
OG Acceleration parameter
OS S-curve acceleration/deceleration parameter
OX Speed magnification parameter
  1. Specifying a motor axis
    Following command $1M, specify one of the axis numbers in the above table in X.
  2. Enter:
    $1M[X]
    Response:
    >
  3. Confirming a speed parameter
    Following command $1, specify one of the speed parameter commands in the above table in XX.
  4. Enter:
    $1[XX]
    Response:
    >$11[XXXXX]
    A 5-digit numeric value will be returned in XXXXX, following command $11.
  5. Changing a speed parameter
    Following command $1, specify one of the speed parameter commands in the above table in XX, and specify a change value in 5-digit numbers to be changed in XXXXX.
  6. Enter:
    $1[XX][XXXXX]
    Response:
    >
    After changing a speed parameter, see step 2 “Confirming the speed parameter” to confirm whether the parameter is changed or not.

      3. Writing speed parameters

      1. Specifying a motor axis
      2. Enter:
        $1DW
        Response:
        >*
        Successful completion. Be sure not to turn the power off until an asterisk character ("*") is displayed.