Control Commands - YASKAWA S-V Series User Manual

7.7.2 Control Commands

The following table shows the control commands.
Serial Command
Target Position Specification (Absolute Position)
Setting range: −99999999 ≤ nnnnnnnn ≤ +99999999 [Reference units]
Specifies the target position as an absolute position.
POS (±) nnnnnnnn
POSA (±) nnnnnnnn
(The + sign can be
omitted.)
Note: If a new target position is specified during positioning, the new target position will be
Target Position Specification (Relative Distance)
Setting range: −99999999 ≤ nnnnnnnn ≤ +99999999 [Reference units]
Specifies the target position as a relative distance.
POSI (±) nnnnnnnn
(The + sign can be
omitted.)
Note: If a new target position is specified during positioning, the new target position will be
Positioning Speed Specification
Setting range: 1 ≤ nnnnnnnn ≤ +99999999 [1000 reference units/min]
Specifies the positioning speed.
After the control power supply is turned ON, the positioning speed set in parameter PnB27 will
be used until the SPD command is executed.
For example, when the reference unit is 0.01 mm and the desired speed is 15 m/min:
SPDnnnnnnnn
15 m/min = 15000 mm/min
SPD1500
Note: If a new positioning speed is specified during positioning, the new speed will become

Control Commands

Function/Description
Speed
SPDx
POSy or
POSAy
ST
ST
X
0
used in the next ST command.
Speed
SPDx
POSIy
ST ST
ST
X
(y) (y) (y)
0
b b+y b+2y b+3y
used in the next ST command.
= 15000 × 100 reference unit/min
= 1500 [1000 reference unit/min]
effective from the next positioning.
POSz or
POSAz
ST
* When the target position is an
absolute position, the axis will not
move if the same positioning is
repeated with ST.
Position coordinate
* The same positioning is
repeated with ST.
t
Position coordinate
7.7 Serial Commands
Positive
Response
OK
OK
7
OK
7-9