4.2 Main Commands
81
4.2.25 Positioning (POSING: 35H)
Related Parameters
Byte
POSING
Description
Command
Response
1
35H
35H
Processing clas-
sifications
Motion com-
mand group
Synchronization
classifications
Asynchronous
2
−
ALARM
Processing time
Within commu-
nications cycle
Subcommand
Can be used
3
OPTION
STATUS
• Performs positioning at the target position (TPOS) using the target
speed (TSPD).
• Can be used during phases 2 and 3.
• A warning will occur and the command will be ignored in the following
cases.
-If the SERVOPACK is Servo OFF: Command warning 1 (A.95A)
-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. 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
from 0 to the maximum speed [reference unit/s].
• Changes can be made to the target position and target speed during
movement.
• Use DEN (output complete) to confirm the completion of position refer-
ence output.
• For details on posing commands, refer to
6.5.2 POSING Related Com-
mands
.
4
5
TPOS
MONITOR1
6
7
8
9
TSPD
MONITOR2
10
11
12
13
SEL_MON
1/2
SEL_MON
1/2
14
−
IO_MON
15
16
WDT
RWDT
17
For sub-
commands.
For sub-
commands.
18
19
20
21
22
23
24
25
26
27
28
29
Parameter No.
Description
Pn80B
Linear Acceleration Parameter
Pn80E
Linear Deceleration Parameter
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