Command Header Section - YASKAWA S-7 Series Command Manual

2.5 Command Header Section

2.5.1 Servo Command Control (SVCMD_CTRL)
2.5

Command Header Section

For the details of the command header section (command code, watchdog data and command
control fields), refer to the following section.
2.2 Command Header Section of Main Command Area on page 2-5
2.5.1 Servo Command Control (SVCMD_CTRL)
Byte 4 to byte 7 of the command format are specified as the SVCMD_CTRL field.
The control bit specifies a motion command for a slave station.
The SVCMD_CTRL field contains auxiliary data for the specified command and the control bits
have no meaning with commands other than the command that specified the data.
Note that the designation in this field is valid even when a CMD_ALM has occurred.
The SVCMD_CTRL field is specified as shown below by the communication specification.
SVCMD_CTRL Field
bit 7
bit 15
bit 23
bit 31
Details of Control Bits
The following table shows the details of the control bits.
Bit
0
1
2, 3
2-14
bit 6 bit 5
Reserved (0)
bit 14 bit 13
Reserved (0)
bit 22 bit 21
SEL_MON2
bit 30 bit 29
Reserved (0)
Name
Pause of Move
CMD_PAUSE
Command
Pauses execution of the POSING, FEED, EX_FEED, EX_POSING, ZRET and VELCTRL com-
mands according to STOP_MODE.
Cancellation of
CMD_CANCEL
Move Command
Cancels execution of the POSING, FEED, EX_FEED, EX_POSING, ZRET and VELCTRL com-
mands according to STOP_MODE.
Selection of Stop
STOP_MODE
Mode
Selects the stop mode for CMD_PAUSE and CMD_CANCEL.
bit 4 bit 3
ACCFIL STOP_MODE
bit 12 bit 11
LT_SEL2
bit 20 bit 19
bit 28 bit 27
Description Value
0 None
Move command pause
1
command
0 None
Cancellation of move
1
command
0 Stop after deceleration
1 Immediate stop
2 Reserved
3 Reserved
bit 2 bit 1
CMD_
CANCEL
bit 10 bit 9
LT_SEL1 LT_REQ2
bit 18 bit 17
SEL_MON1
bit 26 bit 25
SEL_MON3
Setting
Level
Level
Level
Continued on next page.
bit 0
CMD_
PAUSE
bit 8
LT_REQ1
bit 16
bit 24
Enabled Timing