Positioning (Posing: 35H) - YASKAWA MECHATROLINK Sigma 2 Series User Manual

4 MECHATROLINK-II Communications

4.3.25 Positioning (POSING: 35H)

4.3.25
Byte
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
use. Refer to
19
4.4 Subcom-
mands.
20
21
22
23
24
25
26
27
28
29

Positioning (POSING: 35H)

POSING
Response
35H Processing
classifications
ALARM Processing time
STATUS • Performs positioning at the target position (TPOS) using the target speed
• Can be used during phases 2 and 3.
MONITOR1
• A warning will occur and the command will be ignored in the following cases.
MONITOR2
• OPTION can be selected. Refer to 4.5.2 Option Field Specifications: OPTION
• The target position (TPOS) is a signed 4 bytes. It is set using an absolute posi-
• The target speed (TSPD) is an unsigned 4 bytes. It is set using units/s.
SEL_MON 1/2
• Changes can be made to the target position and target speed during movement.
IO_MON
• Use DEN (output complete) to confirm the completion of position reference
• The maximum positioning distance referenced by one POSING command is
RWDT
For
subcommands
use. Refer to
4.4 Subcom-
mands.
Related Parameters
Pn No.
Pn80A
Pn80B
Pn80C
Pn80D
Pn80E
Pn80F
Motion command
group
Within communi-
cations cycle
(TSPD).
- During phase 1: MECHATROLINK-II command warning (A.95)
- If the SERVOPACK is Servo OFF: MECHATROLINK-II command warning
(A.95)
- If the target speed (TSPD) exceeds the limit: Parameter setting warning
(A.94)
for details.
tion in the reference coordinate system.
output.
2147483647 (7FFFFFFFH).
Execute the POSING command so that the following equation is satisfied:
Target position (TPOS) − current position (POS) ≤ The maximum positioning
distance
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
4-32
Description
Synchronization
classifications
Subcommand
Synchronous
Can be used.