YASKAWA E-7S SERVOPACK SGD7S Product Manual page 494

Serial Command
Positioning Start with Registration
Starts positioning with the speed specified by the SPD command and the
target position specified by the POS, POSA, or POSI command.
If the /RGRT signal goes ON during positioning, that position is latched
and the motor will move the specified relative distance from the latched
position. The registration operation uses the registration distance speci-
fied by the RDST command and the registration speed specified by the
RSPD command.
The target position specification, positioning speed specification, registra-
tion distance specification, and registration speed specification can be
omitted. In this case, the positioning performed in the previous registration
operation will be repeated.
Error E51E will occur if the RS command is executed but the target posi-
tion hasn't been specified even once. Error E52E will occur if the RS com-
mand is executed but the registration distance hasn't been specified even
once. If the RS command is executed but the positioning speed and regis-
tration speed haven't been specified even once, the speed specified in
parameter PnB27 will be used either as the positioning speed or the regis-
tration speed.
When registration positioning has been stopped with the HOLD com-
mand, the registration positioning will be restarted (the hold will be
cleared) if the RS command is executed.
RS
Example 1:
POSI + nnnnnnnn:Target Position Specification
SPDnnnnnnnn: Positioning Speed Specification
RDSTnnnnnnnn: Registration Distance Specification
RSPDnnnnnnnn: Registration Speed Specification
RS: Positioning Start with Registration
RS: Repeat
Example 2:
POSI + nnnnnnnn:Target Position Specification
RDSTnnnnnnnn: Registration Distance Specification
RS: Positioning Start with Registration (using the speed specified in
PnB27
for both the positioning and registration speeds)
Example 3:
POSI + nnnnnnnn:Target Position Specification
RDSTnnnnnnnn: Registration Distance Specification
RS: Positioning Start with Registration
HOLD: Positioning Interruption
RS: Positioning Restart (Clear Hold)
Note: Error E53E will occur if a new move command such as the RS command is
Positioning Start with Registration (Absolute Position)
Setting range: −99999999 ≤ nnnnnnnn ≤ +99999999 [1 reference unit]
Specifies the absolute position nnnnnnnn as the target position and starts
registration positioning at the same time. This command is equivalent to
RS (±) nnnnnnnn*
the following combination:
RSA (±) nnnnnnnn*
POSA + nnnnnnnn → RS
(The + sign can be
omitted.)
Example:
SPDnnnnnnnn: Positioning Speed Specification
RDSTnnnnnnnn: Registration Distance Specification
RSPDnnnnnnnn: Registration Speed Specification
RSA +nnnnnnnn: Target Position Specification and Positioning Start with
Registration
14.8.3 Positioning, Jog Operation, and Registration with Serial Commands
Function/Description
received while the motor is already moving (positioning or other moving oper-
ation). Execute a move command such as the RS command only after the
previous moving operation has been completed.
14.8 Serial Commands
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Positive
Response
OK
OK
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