YASKAWA S-7 Series, Command Manual

Page: 103 / 191

3.2 Servo Commands
3.2.10 Positioning Command (POSING: 35h)
3
Main Command
s
3-37
3.2.10 Positioning Command (POSING: 35h)
Data Format
Phases in which the
Command can be Executed
2, 3
Command
Classification
Servo standard
command
Asynchronous
command
Processing Time
Within
communica-
tion cycle
Subcommand Can be used
Byte
POSING
Description
Command Response
0
35h 35h
•
The POSING command executes positioning to the specified
position.
•
Positioning is executed to the target position (P1) at the posi-
tioning speed.
•
You can set Pn846 to a value other than 0 to use S-curve accel-
eration/deceleration for positioning.
•
You can set Pn846 to 0 to use linear acceleration/deceleration
for positioning.
•
Confirm the completion of the command execution by checking
that RCMD = POSING (= 35h) and CMD_STAT.CMDRDY = 1.
•
Confirm motion reference output completion by checking that
SVCMD_IO.DEN = 1, and the completion of positioning by
checking that SVCMD_IO.PSET = 1.
•
Confirm the completion of the cancellation of the command by
checking that RCMD = POSING (= 35h), CMD_STAT.CMDRDY
= 1 and SVCMD_STAT.CMD_CANCEL_CMP = 1.
•
Confirm the completion of pausing of the command by check-
ing that RCMD = POSING (= 35h), CMD_STAT.CMDRDY = 1
and SVCMD_STAT.CMD_PAUSE_CMP = 1.
•
CPRM_SEL_MON1/CPRM_SEL_MON2:
Monitor data can be selected by changing the common param-
eter setting. Refer to the following chapter for details.
Chapter 8 Common Parameters .
<Notes on using the command>
•
TPOS (target position): Set the target position with a signed value.
•
TSPD (target speed): Set the target speed with an unsigned value.
•
ACCR (acceleration):
Set the acceleration with an unsigned value.
•
DECR (deceleration):
Set the deceleration with an unsigned value.
When both ACCR and DECR are "0", acceleration/deceleration
is performed according to the parameter settings.
To perform two-step acceleration/deceleration, set both ACCR
and DECR to "0." Refer to the following section for details.
6.1.2 Positioning Command on page 6-2.
•
TLIM (torque limit):
Set the torque limit with an unsigned value.
When not applying the torque limit, set the maximum value.
•
Refer to the following section for the above reference data.
3.2.19 Motion Command Data Setting Method on page 3-52.
•
Refer to the following section for the reference value units in the
command area.
2.7.2 Specifying Units on page 2-27.
In the following cases, an alarm will occur and the command will
not be executed.
•
In the servo OFF state: CMD_ALM = Ah (A.95A)
•
When the TSPD data is invalid:
CMD_ALM = 9h (A.94B)
•
When the ACCR or DECR data is invalid:
CMD_ALM = 9h (A.94B)
•
When either of the ACCR or DECR data is set to "0": CMD_ALM
= 9h (A.94B)
In the following case, an alarm will occur and the relevant value
will be clamped at the limit value.
•
When the TLIM data is invalid: CMD_ALM = 1h (A.97B)
1
WDT RWDT
2
CMD_CTRL CMD_STAT
3
4
SVCMD_CTRL SVCMD_STAT
5
6
7
8
SVCMD_IO SVCMD_IO
9
10
11
12
TPOS
CPRM_SEL_
MON1
13
14
15
16
TSPD
CPRM_SEL_
MON2
17
18
19
20
ACCR MONITOR1
21
22
23
24
DECR MONITOR2
25
26
27
28
TLIM MONITOR3
29
30
31