Positioning (Posing: 35H) - YASKAWA SGDS Sigma III Series User Manual

6.3.25 Positioning (POSING: 35H)

Byte POSING
Command
1 35H
2
3 OPTION
4
5 TPOS
6
7
8
9 TSPD
10
11
12
13 SEL_MON 1/2
14
15
16 WDT
17 For
subcommands.
18
Refer to 6.4
19
Subcommands.
20
21
22
23
24
25
26
27
28
29
• Related Parameters
Pn No.
Pn80A
Pn80B
Pn80C
Pn80D
Pn80E
Pn80F
Response
35H Processing
classifications
ALARM Processing time
STATUS
• Performs positioning at the target position (TPOS) using the target speed
(TSPD).
• Can be used during phases 2 and 3.
MONITOR1
• A warning will occur and the command will be ignored in the following cases.
- During phase 1: Command warning 1 (A.95A)
- If the SERVOPACK is Servo OFF: Command warning 1 (A.95A)
- If the target speed (TSPD) exceeds the limit: Data setting warning 2 (A.94B)
MONITOR2
• OPTION field can be selected. Refer to 6.5.2 Option Field Specifications:
OPTION for details.
• The target position (TPOS) is a signed 4 bytes. It is set using an absolute
position in the reference coordinate system.
• The target speed (TSPD) is an unsigned 4 bytes. Setting ranges from 0 to the
SEL_MON 1/2
limit value [reference unit/s].
IO_MON
• Changes can be made to the target position and target speed during movement.
• Use DEN (output complete) to confirm the completion of position reference
RWDT output.
For
subcommands.
Refer to 6.4
Subcommands.
Description
First-step Linear Acceleration Parameter
Second-step Linear Acceleration Parameter
Acceleration Parameter Switching Speed
First-step Linear Deceleration Parameter
Second-step Linear Deceleration Parameter
Deceleration Parameter Switching Speed
Description
Motion command Synchronization
group classifications
Within communi- Subcommand
cations cycle
6.3 Main Commands
Asynchronous
Can be used
6-31