Continuous Operation - YASKAWA SGD7S Product Manual

13.3 Controlling Operation from the Host Controller

13.3.2 Continuous Operation

Motor speed
Enable
Start Trajectory
Trajectory In
Progress
Command Assembly Code
Command Data
Important

13.3.2 Continuous Operation

This command performs continuous operation at a fixed speed. The procedure and an exam-
ple operation are given below.
Using Commands
The command method and procedure for continuous operation are given below.
1.
If it is necessary to change the current parameters, set the acceleration rate, decelera-
tion rate, etc.
2.
Set the Direction bit in the command message.
3.
Set the command assembly code to 0x11 and set the continuous motor speed in the
command message.
4.
Set the Valid Data bit to 1 in the command message, and then set the Start Trajectory bit
to 1. You can set both the Valid Data bit and the Start Trajectory bit to 1 at the same
time.
5.
After continuous operation starts, the Trajectory In Progress bit in the response mes-
sage is set to 1.
6.
You can change the continuous Servomotor speed and rotation direction during contin-
uous operation. To do so, change the Valid Data bit and Start Trajectory bit from 0 to 1.
7.
To stop continuous operation, set the Smooth Stop bit or the Hard Stop bit to 1. You can
also stop continuous operation by setting the continuous motor speed to 0.
Continuous Operation Example
An example of a command message for continuous operation is given in the following table. In
this example, forward rotation with a target speed of 8,000 reference units/s (= 0x00001F40) is
specified. The SERVOPACK assumes that the data, such as that for the continuous motor
speed, is valid when the Valid Data bit in the command message is set to 1. Therefore, set
bytes 1 to 7 first, and then set byte 0.
13-14
1
0
1
0
1
0
02h
V1
• If an alarm occurs, the servo is OFF, or another operation command, such as one for continu-
ous operation or an origin return, is being executed, the Positioning command will be ignored.
• Make sure that the Enable State bit in the response message is set to 1, and then set the Start
Trajectory bit. If you set the Enable bit and the Start Trajectory bit at the same time, the Start
Trajectory bit will be ignored.
A1
03h 04h 01h
A1 D1 P1
V1
D1
P1