YASKAWA SGD7S Product Manual page 427

Bytes Bit 7 Bit 6
6
7
After rotating the motor for the required time, send the following command message.
 PnBA5 Bit 15 = 0 (Positioning Command)
A Positioning command (command assembly code = 0x01) is used.
Bytes Bit 7 Bit 6
1
1
0 Valid
Enable
Data
1
2 0x1 Axis Instance
3 0x1 Axis Instance
4
5
6
7
 PnBA5 Bit 15 = 1 (Switch to Positioning Command)
The Switch to Positioning command (command assembly code = 0x1F) is used.
Bytes Bit 7 Bit 6
1
1
0 Valid
Enable
Data
1
2 0x1 Axis Instance
3 0x1 Axis Instance
4
5
6
7
Example: Using the Switch to Positioning Command
Acceleration rate
(PnB2A)
Motor speed
1
Start Trajectory
0
1
Trajectory In
Progress
0
Command Data
13.3 Controlling Operation from the Host Controller
Bit 5 Bit 4
0x00 Target Speed High Middle Byte
0x00 Target Speed High Byte
Bit 5 Bit 4
0 0 0
Hard Smooth Direction
Stop Stop (V mode)
0x00 Block Number
0x01 Command Assembly Code
0x03 Response Assembly Code
0x00 Target Position Low Byte
0xF4 Target Position Low Middle Byte
0x01 Target Position High Middle Byte
0x00 Target Position High Byte
Bit 5 Bit 4
0 0 0
Hard Smooth Direction
Stop Stop (V mode)
0x00 Block Number
0x1F Command Assembly Code
0x03 Response Assembly Code
0x00
0x00
0x00
0x00
Continuous motor speed
(V1)
Positioning approach speed
(PnB54)
0x11
0x1F
V1 0x00
13.3.4 Switching to Positioning
Bit 3 Bit 2 Bit 1
Bit 3 Bit 2 Bit 1
0
0
Absolute/
Start
Incremen-
Block
tal
Bit 3 Bit 2 Bit 1
0
0
Absolute/
Start
Incremen-
Block
tal
Deceleration rate (PnB2B)
End position
(PnB55)
Bit 0
Bit 0
1
Start
Trajectory
Bit 0
1
Start
Trajectory
13
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