Positioning Command (Posing: 35H) - YASKAWA S-7 Series Command Manual

3.2.10

Positioning Command (POSING: 35h)

Data Format
Phases in which the
Command can be Executed
Processing Time
Byte
Command
0
1
2
CMD_CTRL
3
4
5
SVCMD_CTRL SVCMD_STAT
6
7
8
9
SVCMD_IO
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
2, 3
Within
communica-
tion cycle
POSING
Response
35h 35h
WDT RWDT
CMD_STAT
SVCMD_IO
CPRM_SEL_
TPOS
MON1
CPRM_SEL_
TSPD
MON2
ACCR MONITOR1
DECR MONITOR2
TLIM MONITOR3

3.2.10 Positioning Command (POSING: 35h)

Command
Servo standard
Classification command
Subcommand
Description
• The POSING command executes positioning to the specified
position.
• Positioning is executed to the target position (P1) at the posi-
tioning speed.
• You can set Pn846 to a value other than 0 to use S-curve accel-
eration/deceleration for positioning.
• You can set Pn846 to 0 to use linear acceleration/deceleration
for positioning.
• Confirm the completion of the command execution by checking
that RCMD = POSING (= 35h) and CMD_STAT.CMDRDY = 1.
• Confirm motion reference output completion by checking that
SVCMD_IO.DEN = 1, and the completion of positioning by
checking that SVCMD_IO.PSET = 1.
• Confirm the completion of the cancellation of the command by
checking that RCMD = POSING (= 35h), CMD_STAT.CMDRDY
= 1 and SVCMD_STAT.CMD_CANCEL_CMP = 1.
• Confirm the completion of pausing of the command by check-
ing that RCMD = POSING (= 35h), CMD_STAT.CMDRDY = 1
and SVCMD_STAT.CMD_PAUSE_CMP = 1.
• CPRM_SEL_MON1/CPRM_SEL_MON2:
Monitor data can be selected by changing the common param-
eter setting. Refer to the following chapter for details.
Chapter 8 Common Parameters.
<Notes on using the command>
• TPOS (target position): Set the target position with a signed value.
• TSPD (target speed): Set the target speed with an unsigned value.
• ACCR (acceleration):
Set the acceleration with an unsigned value.
• DECR (deceleration):
Set the deceleration with an unsigned value.
When both ACCR and DECR are "0", acceleration/deceleration
is performed according to the parameter settings.
To perform two-step acceleration/deceleration, set both ACCR
and DECR to "0." Refer to the following section for details.
6.1.2 Positioning Command on page 6-2.
• TLIM (torque limit):
Set the torque limit with an unsigned value.
When not applying the torque limit, set the maximum value.
• Refer to the following section for the above reference data.
3.2.19 Motion Command Data Setting Method on page 3-52.
• Refer to the following section for the reference value units in the
command area.
2.7.2 Specifying Units on page 2-27.
In the following cases, an alarm will occur and the command will
not be executed.
• In the servo OFF state: CMD_ALM = Ah (A.95A)
• When the TSPD data is invalid:
CMD_ALM = 9h (A.94B)
• When the ACCR or DECR data is invalid:
CMD_ALM = 9h (A.94B)
• When either of the ACCR or DECR data is set to "0": CMD_ALM
= 9h (A.94B)
In the following case, an alarm will occur and the relevant value
will be clamped at the limit value.
• When the TLIM data is invalid: CMD_ALM = 1h (A.97B)
3.2 Servo Commands
Asynchronous
command
Can be used
3
3-37