YASKAWA S-V Series User Manual page 121

Serial Command
Positioning Start with Registration
Starts positioning with the speed specified by the SPD command and the target position speci-
fied by the POS, POSA, or POSI command.
If the /RGRT signal goes ON during positioning, that position is latched and the motor will
move the specified relative distance from the latched position. The registration operation uses
the registration distance specified by the RDST command and the registration speed specified
by the RSPD command.
The target position specification, positioning speed specification, registration distance specifica-
tion, and registration speed specification can be omitted. In this case, the positioning performed
in the previous registration operation will be repeated.
Error E51E will occur if the RS command is executed but the target position hasn't been speci-
fied even once. Error E52E will occur if the RS command is executed but the registration dis-
tance hasn't been specified even once. If the RS command is executed but the positioning speed
and registration speed haven't been specified even once, the speed specified in parameter
PnB27 will be used either as the positioning speed or the registration speed.
When registration positioning has been stopped with the HOLD command, the registration posi-
tioning will be restarted (the hold will be cleared) if the RS command is executed.
Example 1:
POSI + nnnnnnnn: Target Position Specification
SPDnnnnnnnn: Positioning Speed Specification
RS
RDSTnnnnnnnn: Registration Distance Specification
RSPDnnnnnnnn: Registration Speed Specification
RS: Positioning Start with Registration
RS: Repeat
Example 2:
POSI + nnnnnnnn:Target Position Specification
RDSTnnnnnnnn: Registration Distance Specification
RS: Positioning Start with Registration (using the speed specified in PnB27
for both the positioning and registration speeds)
Example 3:
POSI + nnnnnnnn: Target Position Specification
RDSTnnnnnnnn: Registration Distance Specification
RS: Positioning Start with Registration
HOLD: Positioning Interruption
RS: Positioning Restart (Clear Hold)
Note: Error E53E will occur if a new move command such as the RS command is received
Positioning Start with Registration (Absolute Position)
Setting range: −99999999 ≤ nnnnnnnn ≤ +99999999 [Reference units]
Specifies the absolute position nnnnnnnn as the target position and starts registration position-
RS (±) nnnnnnnn
ing at the same time. This command is equivalent to the following combination:
RSA (±) nnnnnnnn
POSA + nnnnnnnn → RS
(The + sign can be
omitted.)
Example:
SPDnnnnnnnn: Positioning Speed Specification
RDSTnnnnnnnn: Registration Distance Specification
RSPDnnnnnnnn: Registration Speed Specification
RSA +nnnnnnnn: Target Position Specification and Positioning Start with Registration
Control Commands (cont'd)
Function/Description
while the motor is already moving (positioning or other moving operation). Execute a
move command such as the RS command only after the previous moving operation has
been completed.
7.7 Serial Commands
Positive
Response
OK
OK
7
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