YASKAWA SGD7S Product Manual page 414

13.2 Communications Methods
13.2.1 I/O Communications
 Absolute/Incremental
Use the Absolute/Incremental bit to specify whether the target position data that is stored in
bytes 4 to 7 specifies an absolute position or an incremental position. This data is enabled
when the Start Trajectory bit changes from 0 to 1.
0: Absolute position
1: Incremental position
 Direction
The Direction bit specifies the rotation direction for continuous operation. This bit is valid only
when the command assembly code is 0x11 (continuous motor speed).
0: Negative direction
1: Positive direction
 Smooth Stop
Change this bit from 0 to 1 to stop travel at the current acceleration/deceleration type and
deceleration rate settings. The Valid Data bit does not affect this command bit.
 Hard Stop
Change this bit from 0 to 1 to stop travel at the maximum deceleration rate. The Valid Data bit
does not affect this command bit.
 Valid Data
The SERVOPACK refreshes the command assembly code, response assembly code, and com-
mand data that are received only while the Valid Data bit is set to 1. The Enable, Smooth Stop,
and Hard Stop bits in byte 0 are refreshed regardless of the status of the Valid Data bit.
0: Data is not valid
1: Data is valid
If the Valid Data bit is changed to 0 in a command message when there is a command error,
the Command Error bit in the response message will be cleared to 0.
 Enable
The Enable bit controls turning the servo ON and OFF. This bit is level triggered. It must remain
set to 1 whenever the servo is to be ON. Also, if the External Stop command is cleared while
the Enable bit is set to 1, the servo will turn ON immediately.
0: Servo OFF
1: Servo ON
 Block Number
Set the Block Number Field to the block number from which to start the command blocks.
 Axis Instance
Set the Axis Instance Field to the axis number. Always set the Axis Instance Field to 1. A com-
mand error will occur for any other value.
 Command Assembly Code
The command assembly code defines the command data in bytes 4 to 7.
Command Assembly Code
0x00
0x01
0x02
0x03
13-6
Command Data
NOP
Target position (reference units)
Target speed (reference unit/s)
Acceleration rate (reference units/s
Data Types
−
DINT
DINT
2
DINT
)
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