YASKAWA S-7 Series Command Manual page 10

 Technical Terms Used in This Manual
The following terms are used in this manual.
Basic Term
Transmission Cycle
Communication Cycle
Synchronous Commands
(Classification S)
Asynchronous Com-
mands (Classification A)
Common Commands
Servo Commands
Motion Commands
Important
 Differences in Terms for Rotary Servomotors and Linear Servomotors
There are differences in the terms that are used for Rotary Servomotors and Linear Servomotors.
This manual primarily describes Rotary Servomotors. If you are using a Linear Servomotor, you
need to interpret the terms as given in the following table.
Rotary Servomotors
moment of inertia
forward rotation and reverse rotation
CW and CCW pulse trains
rotary encoder
absolute rotary encoder
incremental rotary encoder
x
Using This Manual
The transmission cycle is the cycle in the MAC (Media Access Control) layer. It is the
communication cycle for physically sending data to the transmission path. The transmis-
sion cycle is unaffected by the services provided by the application layer.
The communication cycle is the cycle for application layer. The communication cycle is
set to an integral multiple of the transmission cycle.
For commands of this type, commands are sent and response are received every com-
munication cycle.
The WDT (Watchdog Timer) in the frames are refreshed and checked every communica-
tion cycle. Synchronous commands can be used only during synchronous communica-
tions (Phase 3).
For commands of this type, commands are sent and response are received asynchro-
nously to the communication cycle.
Subsequent commands can be sent after confirming the completion of processing of the
slave station that received the command.
The WDT (Watchdog Timer) in the frames are not checked.
Commands that are common for MECHATROLINK-III communications, independent of
profiles
Commands that are defined in the standard servo profile and specific to SERVOPACKs
Among servo commands, the following commands are called motion commands.
INTERPOLATE, POSING, FEED, EX_FEED, EX_POSING, ZRET, VELCTRL, and TRQC-
TRL
Be sure that you fully understand each command and use the commands in the order appropri-
ate for your application.
Incorrect usage of the commands can result not only unexpected motions, but in a serious acci-
dent.
Special care and verification must be taken for usage of the commands in order to avoid acci-
dents.
Be sure to also establish safety measures for the system.
This manual does not apply to users who use MP-series motion controllers for controlling
Series SERVOPACKs.
torque
rotation
-1
unit: min
unit: N·m
Meaning
Linear Servomotors
force
mass
movement
forward movement and reverse movement
forward and reverse pulse trains
linear encoder
absolute linear encoder
incremental linear encoder
unit: mm/s
unit: N
Σ
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