3.2 Servo Commands
3.2.1 Set Coordinates Command (POS_SET: 20h)
3-24
3.2
Servo Commands
3.2.1
Set Coordinates Command (POS_SET: 20h)
Data Format
Phases in which the
Command can be Executed
2, 3
Command
Classification
Common motion
command
Asynchronous
command
Processing Time
Within
communication
cycle
Subcommand
Cannot be used
Byte
POS_SET
Description
Command
Response
0
20h
20h
•
The POS_SET command sets the coordinate system for
the slave station. Specify the type of coordinates with
the monitor selection code using POS_SEL.
•
This command also provides a function to set the refer-
ence point. Specifying this command after setting REFE
= 1 sets the machine zero point according to the coor-
dinate setting values and enables the stroke check
(software limit) function.
•
Confirm the completion of the command execution by
checking that RCMD = POS_SET (= 20h) and
CMD_STAT.CMDRDY = 1, and also checking the set-
ting for POS_SEL and POS_DATA.
In the following case, an alarm will occur and the com-
mand will not be executed.
•
When the POS_SET_MOD data is invalid:
CMD_ALM = 9h (A.94B)
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
POS_SET_MOD
POS_SET_MOD
13
14
15
16
POS_DATA
POS_DATA
17
18
19
20
Reserved
MONITOR1
21
22
23
24
MONITOR2
25
26
27
28
MONITOR3
29
30
31
