External Input Positioning (Ex_Posing: 39H) - YASKAWA MECHATROLINK Sigma 2 Series User Manual

4.3.28

External Input Positioning (EX_POSING: 39H)

Byte EX_POSING
Command
1 39H
2 LT_SGN
3 OPTION
4
5 TPOS
6
7
8
9 TSPD
10
11
12
13 SEL_MON 1/2 SEL_MON 1/2
14
15
16 WDT
17 For For
subcommands subcommands
18
use. Refer to use. Refer to
19
4.4 Subcom- 4.4 Subcom-
mands. mands.
20
21
22
23
24
25
26
27
28
29
Response
39H Processing
classifications
ALARM Processing time
STATUS • Moves toward the target position (TPOS) at the target speed (TSPD). When a
latch signal is input midway, positioning is performed according to the final
travel distance for external position specified in the parameter. When no latch
MONITOR1
signal is input, positioning is performed for the target position.
• Can be used during phases 2 and 3.
• A command warning will occur and the command will be ignored in the fol-
lowing cases.
- During phase 1: MECHATROLINK-II command warning (A.95)
- If the SERVOPACK is Servo OFF:
MONITOR2
MECHATROLINK-II command warning (A.95)
- If the target speed (TSPD) exceeds the limit: Parameter setting
warning (A.94)
- If LTMOD_ON/OFF is received during EX_POSING execution or
simultaneously: MECHATROLINK-II command warning (A.95)
(the LTMOD_ON/OFF commands will be ignored.)
• OPTION can be selected. Refer to 4.5.2 Option Field Specifications:
I/O_MON
OPTION for details.
• The target position (TPOS) is a signed 4 bytes [units/s]. It is set using an abso-
RWDT
lute position in the reference coordinate system.
• The target speed (TSPD) is an unsigned 4 bytes. It is set using units/s.
• After the latch is input, any changes to the target position during motion will
be ignored.
• After the latch is input, use DEN (output complete) to confirm the completion
of position reference output.
• It takes 4 ms max. for the Request Latch Mode command to start.
• If EX_POSING command is received during modal latch mode, the
EX_POSING command is enabled.
• The maximum positioning distance referenced by one POSING command is
2147483647 (7FFFFFFFH).
Execute the POSING command so that the following equation is satisfied:
Target position (TPOS) − current position (POS) ≤ The maximum positioning
distance
4-37
Description
Motion command Synchronization
group classifications
Within communi- Subcommand
cations cycle
4.3 Main Commands
Asynchronous
Can be used.
4