YASKAWA SGD7S Product Manual page 415

Command Assembly Code
0x04
0x05 to 0x10
0x11
0x12
0x13 to 0x1D
0x1E
0x1F
*
The value of PnB55 is the end position.
 Response Assembly Code
The response assembly code specifies the response data that is in the response message,
such as the current position or the current speed.
Response Assembly Code
0x00
0x01
0x02
0x03
0x04
0x05
0x06 to 0x1D
0x1E
0x1F
 Command Data
Set the command data to the data that is defined for the command assembly code.
Command Data Specifications
 NOP (Command Assembly Code = 0x00)
The command data has no meaning for this code.
 Target Position (Command Assembly Code = 0x01)
Set the command data to the target position in reference units. This data is enabled when the
Valid Data bit is set to 1.
Positioning starts when the Start Trajectory bit is set to 1 after the target position is set. The
data and the bit can also be set at the same time.
The handling of the target position depends on the Absolute/Incremental bit, as shown below.
• Absolute/Incremental bit = 0 (Absolute Position)
If the current position is +200 and the command data is +300, the target position will be
+300.
• Absolute/Incremental bit = 1 (Relative Position)
If the current position is +200 and the command data is +300, the target position will be
+500.
Refer to the following section for information on positioning.
13.3.1 Positioning on page 13-13
Command Data
Deceleration rate (reference units/s
Reserved.
Continuous motor speed (reference unit/s)
Origin return type
Reserved.
Alarm clear
Switch to positioning*
Response Data
NOP
Current position (reference units)
Reference position (reference units)
Current speed (reference unit/s)
Reserved.
Torque monitor (%)
Reserved.
Alarm code
Reserved.
13.2 Communications Methods
13.2.1 I/O Communications
Continued from previous page.
Data Types
2
DINT
)
−
DINT
USINT
−
BOOL
DINT
Data Type
−
DINT
DINT
DINT
−
DINT
−
DINT
−
13
13-7