Command Data; Data Order; Specifying Units - YASKAWA S-7 Series Command Manual

2.7

Command Data

This section describes the servo-specific data used with servo commands.
2.7.1

Data Order

Data in commands and responses is stored in little endian byte order.
For example, 4-byte data "0x1234ABCD" in hexadecimal is stored from the least significant
byte as shown below.
Byte Data
1
2
3
4
2.7.2

Specifying Units

The units for the user command and parameter data can be selected.
The system of units is set in the common parameters. For the details on the common parame-
ters, refer to the following chapter for details.
Chapter 8 Common Parameters
Speed
The following units can be selected.
Settings are made with common parameters 41 and 42.
Reference unit/s (default)
Reference unit/min
"%" of rated speed
−1
min (rpm)
Max. motor speed/40000000 (h)
Position
The following units can be selected.
Settings are made with common parameters 43 and 44.
Reference unit (default)
Acceleration
The following units can be selected.
Settings are made with common parameters 45 and 46.
Reference unit/s
CD
AB
34
12
Unit
×10
×10
×10
×10
Set "0" for common parameter 42.
Unit
[Reference unit] Fixed
Set "0" for common parameter 44.
Unit
2 ×10
(default)
Remark
n
[reference unit/s] can be set.
n
[reference unit/min] can be set.
n
[%] can be set.
−1
n
[min ] can be set.
Remark
Remark
n 2
[reference unit/s ] can be set.
2.7 Command Data
2.7.1 Data Order
2
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