External Input Positioning (Ex_Posing: 39H) - Omron SJDE-ANA-OY Manual

4.2 Main Commands

4.2.28 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
14
15
16 WDT
17 For sub-
commands.
18
19
20
21
22
23
24
25
26
27
28
29
Response
39H Processing clas-
sifications
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 parame-
ter from the latch signal input position. When no latch signal is input,
MONITOR1
positioning is performed for the target position (TPOS).
• Can be used during phases 2 and 3.
• A command warning will occur and the command will be ignored in the
following cases.
-If the SERVOPACK is Servo OFF: Command warning 1 (A.95A)
MONITOR2
-If the target speed (TSPD) exceeds the maximum speed : Data setting
warning 2 (A.94B)
• OPTION field cannot be used. Set all bits to 0.
• The target position (TPOS) is a signed 4 bytes [reference unit]. It is sent
by using an absolute position in the reference coordinate system.
• The target speed (TSPD) is an unsigned 4 bytes. It is sent in the range
SEL_MON
from 0 to the maximum speed [reference unit/s].
1/2
• After the latch is input, any changes to the target position during motion
I/O_MON will be ignored.
• Use DEN (output complete) to confirm the completion of position refer-
ence output.
RWDT
• For details on posing commands, refer to 6.5.2 POSING Related Com-
mands.
For sub-
commands.
Description
Motion com- Synchronization
mand group classifications
Within commu- Subcommand
nications cycle
84
Asynchronous
Can be used