Posing Command Specifications; Interpolate Command Specifications; Id_Rd Specifications - YASKAWA SGM Series User Manual

MECHATROLINK Communication

6.4.12 ID_RD Specifications

6.4.10 POSING Command Specifications

6.4.11 INTERPOLATE Command Specifications

6.4.12 ID_RD Specifications
6
There is a limit to the resolution of the acceleration/deceleration constants and feed speed when posi-
tioning with commands like the POSING command. These resolutions are given below. The INTER-
POLATE command can be used when higher resolution is required.
D Acceleration/deceleration constants (CN-001F and Cn-0020):
15625 reference units/s
This value changes with the number of reference units per revolution.
D If the number of reference units per revolution is 13653 or less, the resolution will be 15625
2
reference units/s . If it exceeds 13653, the resolution will be 250000 reference units/s
acceleration/deceleration time is 8.19s maximum, and it is 1 s maximum with a FEED com-
mand.
D Feed speed: Approx. 2 reference units/s
The feed speed cannot exceed 16383500 reference units/s.
The interpolation feed speed for the INTERPOLATE command and other interpolation commands
cannot exceed 16383500 reference units/s when expressing the amount of movement for one refer-
ence as a feed speed.
The only DEVICE_CODE available for ID_RD (ID read) is "00H: Main
1 ID_RD
2
device/Product type" and "02H: Software version" because hardware
3
limits use of the ID_RD function in the SGD-jjjN.
4
5
DEVICE_CODE
6
OFFSET
7
SIZE
8
9
10
11
12
13
14
15
16
WDT
2
(factory setting)
6 -14
2
. The