Set Coordinates (Pos_Set: 20H) - YASKAWA MECHATROLINK Sigma 2 Series User Manual

4 MECHATROLINK-II Communications

4.3.13 Set Coordinates (POS_SET: 20H)

4.3.13
Byte
Command
1 20H
2
3
4
5 PS_SUBCMD
6 POS_DATA
7
8
9
10
11
12
13
14
15
16 WDT

Set Coordinates (POS_SET: 20H)

POS_SET
Response
20H Processing
classifications
ALARM Processing time
STATUS • Sets coordinates. REFE can also enable zero point (ZPOINT) and software
• Can be used during phases 2 and 3.
PS_SUBCMD
• PS_SUBCMD: Refer to the following table for coordinate setting modes.
POS_DATA
• Set position in POS_DATA.
• A warning will occur and the command will be ignored in the following cases.
RWDT
Details of PS_SUBCMD
D7 D6
REFE 0
• REFE: Sets reference point.
0: Does not set reference point.
1: Sets reference point.
The zero point is enabled, ZPOINT and software limits are enabled.
• POS_SEL: Selects coordinates.
3: When APOS (feedback position in machine coordinate system) is selected,
it is also set in the reference and machine coordinate system.
Data communica-
tions command
group
Within 200 ms
limits.
- During phase 1: MECHATROLINK-II command warning (A.95)
- If a number not within the range is set for PS_SUBCMD: Parameter setting
warning (A.94)
D5 D4
0 0
4-20
Description
Synchronization
classifications
Subcommand
D3 D2 D1
POS_SEL
Asynchronous
Cannot be used.
D0