4.2 Main Commands
84
4.2.28 External Input Positioning (EX_POSING: 39H)
Byte
EX_POSING
Description
Command
Response
1
39H
39H
Processing clas-
sifications
Motion com-
mand group
Synchronization
classifications
Asynchronous
2
LT_SGN
ALARM
Processing time
Within commu-
nications cycle
Subcommand
Can be used
3
OPTION
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,
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)
-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
from 0 to the maximum speed [reference unit/s].
• After the latch is input, any changes to the target position during motion
will be ignored.
• 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
−
I/O_MON
15
16
WDT
RWDT
17
For sub-
commands.
For sub-
commands.
18
19
20
21
22
23
24
25
26
27
28
29
TOEP_C710806_03A_1_0.book Seite 84 Montag, 2. Juli 2007 3:55 15
