YASKAWA SGD7S Product Manual page 416

13.2 Communications Methods
13.2.1 I/O Communications
 Target Speed (Command Assembly Code = 0x02)
Set the command data to the target speed for positioning. This data is enabled when the Valid
Data bit is set to 1. Make sure that this data is always a positive value. Set the speed in refer-
ence units/s.
 Acceleration Rate (Command Assembly Code = 0x03)
Set the command data to the acceleration rate for positioning, continuous operation, and origin
returns. This data is enabled when the Valid Data bit is set to 1. Make sure that this data is
always a positive value. Set the acceleration rate in reference units/s
 Deceleration Rate (Command Assembly Code = 0x04)
Set the command data to the deceleration rate for positioning, continuous operation, and ori-
gin returns. This data is enabled when the Valid Data bit is set to 1. Make sure that this data is
always a positive value. Set the deceleration rate in reference units/s
 Continuous Motor Speed (Command Assembly Code = 0x11)
Set the command data to the target speed for continuous operation. This data is enabled when
the Valid Data bit is set to 1. Make sure that this data is always a positive value. The direction of
rotation is determined by the Direction bit. Set the speed in reference units/s.
Continuous operation 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.
Refer to the following section for information on continuous operation.
13.3.2 Continuous Operation on page 13-14
 Origin Return Type (Command Assembly Code = 0x12)
Set the command data to the origin return type. This data is enabled when the Valid Data bit is
set to 1. Continuous operation 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.
Refer to the following section for information on origin returns.
13.3.3 Origin Returns on page 13-15
Bytes
4
5
6
7
 Alarm Clear (Command Assembly Code = 0x1E)
This command code clears SERVOPACK alarms. Set the Alarm Clear bit to 1 and then set the
Valid Data bit to 1 and the Start Trajectory bit to 1. Any alarms in the SERVOPACK will be
cleared when the Start Trajectory bit is set to 1.
Bytes
4
5
6
7
13-8
Bit 7 Bit 6 Bit 5
Bit 7 Bit 6 Bit 5
0 0 0
Bit 4 Bit 3 Bit 2
Origin Return Type
0x00
0x00
0x00
Bit 4 Bit 3 Bit 2
0 0 0
0x00
0x00
0x00
2
.
2
.
Bit 1 Bit 0
Bit 1 Bit 0
0 Alarm Clear