Servo Commands; Set Coordinates Command (Pos_Set: 20H) - YASKAWA S-7 Series Command Manual

3.2 Servo Commands

3.2.1 Set Coordinates Command (POS_SET: 20h)

3.2

Servo Commands

3.2.1

Set Coordinates Command (POS_SET: 20h)

Data Format
Phases in which the
Command can be Executed
Processing Time
Byte
0
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
3-24
2, 3
Within
communication
cycle
POS_SET
Command Response
20h 20h
WDT RWDT
CMD_CTRL CMD_STAT
SVCMD_CTRL SVCMD_STAT
SVCMD_IO SVCMD_IO
POS_SET_MOD POS_SET_MOD
POS_DATA POS_DATA
MONITOR1
Reserved MONITOR2
MONITOR3
Command
Common motion
command
Classification
Subcommand
Description
• The POS_SET command sets the coordinate system for
the slave station. Specify the type of coordinates with
the monitor selection code using POS_SEL.
• This command also provides a function to set the refer-
ence point. Specifying this command after setting REFE
= 1 sets the machine zero point according to the coor-
dinate setting values and enables the stroke check
(software limit) function.
• Confirm the completion of the command execution by
checking that RCMD = POS_SET (= 20h) and
CMD_STAT.CMDRDY = 1, and also checking the set-
ting for POS_SEL and POS_DATA.
In the following case, an alarm will occur and the com-
mand will not be executed.
• When the POS_SET_MOD data is invalid:
CMD_ALM = 9h (A.94B)
Asynchronous
command
Cannot be used