YASKAWA E-7S SERVOPACK SGD7S Product Manual page 491

14.8 Serial Commands
14.8.3 Positioning, Jog Operation, and Registration with Serial Commands
Serial Command
ACCnnnnnnnn*
DECnnnnnnnn*
ST
14-16
Function/Description
Acceleration Specification
Setting range: 1 ≤ nnnnnnnn ≤ +99999999 [1000 (reference units/min)/
ms]
reference
V
t t
1 2
Acceleration =
Deceleration =
Note: The acceleration setting in parameter PnB29 can also be used. Executing the
command ACCnnnnnnnn is the same as executing TRMB29 = nnnnnnnn.
Deceleration Specification
Setting range: 1 ≤ nnnnnnnn ≤ +99999999 [1000 (reference units/min)/
ms]
Note: The deceleration setting in parameter PnB2B can also be used. Executing the
command DECnnnnnnnn is the same as executing TRMB2B = nnnnnnnn.
Positioning Start
Starts positioning with the speed specified by the SPD command and the
target position specified by the POS, POSA, or POSI command.
The target position specification and speed specification can be omitted.
In this case, the previous positioning will be repeated.
Error E51E will occur if the ST command is executed but the target posi-
tion hasn't been specified even once. If the ST command is executed but
the speed hasn't been specified even once, the speed specified in param-
eter PnB27 will be used.
When positioning has been stopped with the HOLD command, the posi-
tioning will be restarted (the hold will be cleared) if the ST command is
executed.
Example 1:
POSI + nnnnnnnn:Target Position Specification
SPDnnnnnnnn: Positioning Speed Specification
ST: Positioning Start
ST: Repeat
Example 2:
POSI + nnnnnnnn:Target Position Specification
ST: Positioning Start (using the speed specified in PnB27)
Example 3:
POSI + nnnnnnnn:Target Position Specification
ST: Positioning Start
HOLD: Positioning Interruption
ST: Positioning Restart (Clear Hold)
Note: An E53E error will occur if a new move command such as the ST command is
received while the motor is already moving (positioning or other moving oper-
ation). Execute a move command such as the ST command only after the
previous moving operation has been completed.
Continued from previous page.
Time
t t
3 4
V [ × 1000 reference units/min]
− t
t [ms]
2 1
V [ × 1000 reference units/min]
− t
t [ms]
4 3
Continued on next page.
Positive
Response
OK
OK
OK