Position Controller Object - YASKAWA SGD7S Product Manual

16.3 DeviceNet Attributes

16.3.7 Position Controller Object

16.3.7 Position Controller Object
Class: 0x25
Attributes: Not supported.
Services: Not supported.
Instance 1
 Attributes
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Access Name
Number of
Get
Attributes
Get Attribute List
Get/Set Mode
Target Posi-
Get/Set
tion
Target Veloc-
Get/Set
ity
Get/Set Acceleration
Get/Set Deceleration
Incremental
Get/Set
Position
Trajectory
Get/Set Start/Com-
plete
On Target
Get
Position
Actual Posi-
Get/Set
tion
Actual
Get
Velocity
Commanded
Get
Position
Commanded
Get
Velocity
Get/Set Enable
Get/Set Profile Type
Get/Set Profile Gain
Get/Set Smooth Stop
Get/Set Hard Stop
Get/Set Jog Velocity
Data Type
Gives the number of attributes contained
USINT
in this object.
Array of Gives the arrangement of the attribute
USINT numbers that are contained in this object.
USINT Specifies the operating mode.
Specifies the target position.
DINT
Unit: Reference units
Specifies the target rate.
DINT
Unit: Reference units/s
Specifies the acceleration rate.
DINT
Unit: Reference units/s
Specifies the deceleration rate.
DINT
Unit: Reference units/s2
Specifies either absolute or incremental
BOOL
positioning.
BOOL Starts operation.
Indicates whether the current position is
BOOL
within the positioning completed width.
Gives the current position.
DINT
Unit: Reference units
Gives the current speed.
DINT
Unit: Reference units/s
Gives the reference position.
DINT
Unit: Reference units
Gives the command speed.
DINT
Unit: Reference units/s
BOOL Specifies a Servo ON command.
Specifies the acceleration/deceleration
USINT
type.
Specifies the time constant for S-curve
DINT
acceleration/deceleration.
Specifies the command to decelerate to
BOOL
a stop.
BOOL Specifies the Hard Stop command.
Specifies the speed for continuous oper-
DINT ation.
Unit: Reference units/s
Description
2
Continued on next page.
Value
–
–
0: Positioning
1: Continuous
operation
0x80000001 to
0x7FFFFFFF
1 to
115,343,500
15,625 to
2,047,968,750
15,625 to
2,047,968,750
0: Absolute
1: Incremental
1: Start opera-
tion.
0: Operation
completed.
1: Within posi-
tioning com-
pleted width.
0x80000001 to
0x7FFFFFFF
0 to
115,343,500
0x80000001 to
0x7FFFFFFF
0 to
115,343,500
0: Servo OFF
1: Servo ON
–
4 to 4,000
1: Smooth Stop
command
1: Hard Stop
command
1 to
115,343,500