External Input Positioning Command (Ex_Posing: 39H) - YASKAWA S-7 Series Command Manual

3.2.13

External Input Positioning Command (EX_POSING: 39h)

Data Format
Phases in which the
Command can be Executed
Processing Time
Byte
Command
0
1
2
CMD_CTRL
3
4
5
SVCMD_CTRL
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
communication
cycle
EX_POSING
Response
39h 39h
WDT RWDT
CMD_STAT
SVCMD_STAT
SVCMD_IO
CPRM_SEL_
TPOS
MON1
CPRM_SEL_
TSPD
MON2
ACCR MONITOR1
DECR MONITOR2
TLIM MONITOR3

3.2.13 External Input Positioning Command (EX_POSING: 39h)

Command
Servo standard
command
Classification
Subcommand
Description
• The EX_POSING command performs positioning in
response to the input of the external positioning signal.
• To pause the external input positioning, set SVCMD_C-
TRL.CMD_PAUSE to "1."
• Confirm the completion of the command execution by
checking that RCMD = EX_POSING (= 39h) and
CMD_STAT.CMDRDY = 1.
• Confirm the completion of latching by the latch signal by
checking that SVCMD_STAT.L_CMP1 = 1.
• Confirm motion reference output completion by checking
that SVCMD_IO.DEN = 1, and the completion of position-
ing by checking that SVCMD_IO.PSET = 1.
• Confirm the completion of the cancellation of the command
by checking that RCMD = EX_POSING (= 39h),
CMD_STAT.CMDRDY = 1 and SVCMD_STAT.CMD_CAN-
CEL_CMP = 1.
• Confirm the completion of pausing of the command by
checking that RCMD = EX_POSING (= 39h),
CMD_STAT.CMDRDY = 1 and SVCM-
D_STAT.CMD_PAUSE_CMP = 1.
• CPRM_SEL_MON1/CPRM_SEL_MON2:
Monitor data can be selected by changing the common
parameter setting. Refer to the following chapter for
details.
Chapter 8 Common Parameters.
<Notes on using the command>
• To send this command, select the latch signal with LT_-
SEL1 of SVCMD_CTRL and output the latch request by
setting LT_REQ1 = 1.
• 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/deceler-
ation 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.
• 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)
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
3-43