Posing Command Specifications; Interpolate Command Specifications; Id_Rd (Id Read) Specifications - YASKAWA SGDB-15VN User Manual

6.4.10 POSING Command Specifications

There is a limit to the resolution of the acceleration/deceleration constants and feed speed when posi-
tioning with commands like the POSING command. These resolutions are given below. The INTER-
POLATE command can be used when higher resolution is required.

6.4.11 INTERPOLATE Command Specifications

The interpolation feed speed for the INTERPOLATE command and other interpolation commands
cannot exceed 16383500 reference units/s when expressing the amount of movement for one refer-
ence as a feed speed.

6.4.12 ID_RD (ID Read) Specifications

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DEVICE_
CODE
01 02
00
OOH S G D
02H Undef ned
Software
version
• Acceleration/deceleration constants (CN-001F and Cn-0020):
15625 reference units/s2 (factory setting)
This value changes with the number of reference units per revolution.
• I f the number of reference units per revolution is 13653 or less, the resolution will be 15625
reference units/s2. I f it exceeds 13653, the resolution will be 250000 reference units/s2. The
acceleration/deceleration time is 8.19s maximum, and it is 1 s maximum with a FEED com-
mand.
• Feed speed: Approx. 2 reference units/s
The feed speed cannot exceed 16383500 reference units/s.
The DEVICE_CODE is available only with "OOH: Main device/
ID_RD
Product type" and "02H: Software version," because hardware lim-
its use of the ID_RD function in the SGDB- M O N .
DEVICE CODE
OFFSET
SIZE
WDT
The following are IDs that can be read.
03 04 05 06
* *
B —
ID Description
07 08 09 OA O B
*
N 00 Undefined
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6.4 Special Descriptions
OC OD OE OF