Switching To Positioning - YASKAWA SGD7S Product Manual

13.3 Controlling Operation from the Host Controller

13.3.4 Switching to Positioning

13.3.4 Switching to Positioning

When the SERVOPACK receives a command to switch to positioning during continuous opera-
tion, the following three types of positioning can be performed depending on the parameter
settings. These positioning patterns can be used when a rotary coordinate system is specified.
• Direct positioning
• Positioning in specified rotation direction
• Positioning by the near course
Refer to the following section for details on the positioning patterns.
12.4.1 Positioning Patterns after Continuous Operation on page 12-13
The Switch to Positioning Command depends on the setting of the 15th bit of PnBA5 (Action
Definition Setting) as follows:
• PnBA5 bit 15 = 0:
Execute a normal Positioning command (command assembly code = 0x01) to switch from
continuous operation to positioning.
• PnBA5 bit 15 = 1:
Execute a Switch to Positioning command (command assembly code = 0x1F) to switch from
continuous operation to positioning.
Switch to Positioning Operation
1.
Set the parameters required for this operation.
2.
Set the Direction bit in the command message.
3.
Set the command assembly code to 0x11 and set the motor speed in the command
message.
4.
In the command message, set the Valid Data bit to 1, and then set the Start Trajectory
bit to 1.
5.
After the required time has passed, change the command assembly code to the Posi-
tioning command (0x01) or to the Switch to Positioning command (0x1F). Then clear the
Start Trajectory bit to 0 and set it to 1 again.
If the Positioning command (0x01) is used, the end position must be set in the command data.
Operation Example
An example of a command message to switch to positioning is given in the following table. In
this example, clockwise rotation with a motor speed of 8,000 reference units/s (= 0x00001F40)
is specified. The SERVOPACK assumes that the data, such as that for the motor speed, is valid
when the Valid Data bit in the command (0x01) message is set to 1. Therefore, set bytes 1 to 7
first, and then set byte 0.
Bytes
0
1
2
3
4
5
6
7
After rotating the motor for the required time, send the following command message.
13-18
Bit 7 Bit 6
1 0
1
Valid Hard
Enable
Data Stop
0x1 Axis Instance
0x1 Axis Instance
Bit 5 Bit 4 Bit 3
0 1
Smooth Direction
Stop (V mode)
0x00 Block Number
0x11 Command Assembly Code
0x03 Response Assembly Code
0x40 Target Speed Low Byte
0x1F Target Speed Low Middle Byte
0x00 Target Speed High Middle Byte
0x00 Target Speed High Byte
Bit 2 Bit 1
0
0 1
Absolute/
Start Start
Incremen-
Block Trajectory
tal
Bit 0