YASKAWA S-7 Series, Command Manual

Page: 109 / 191

3.2 Servo Commands
3.2.13 External Input Positioning Command (EX_POSING: 39h)
3
Main Command
s
3-43
3.2.13 External Input Positioning Command (EX_POSING: 39h)
Data Format
Phases in which the
Command can be Executed
2, 3
Command
Classification
Servo standard
command
Asynchronous
command
Processing Time
Within
communication
cycle
Subcommand Can be used
Byte
EX_POSING
Description
Command Response
0 39h 39h
•
The EX_POSING command performs positioning in
response to the input of the external positioning signal.
•
To pause the external input positioning, set SVCMD_C-
TRL.CMD_PAUSE to "1."
•
Confirm the completion of the command execution by
checking that RCMD = EX_POSING (= 39h) and
CMD_STAT.CMDRDY = 1.
•
Confirm the completion of latching by the latch signal by
checking that SVCMD_STAT.L_CMP1 = 1.
•
Confirm motion reference output completion by checking
that SVCMD_IO.DEN = 1, and the completion of position-
ing by checking that SVCMD_IO.PSET = 1.
•
Confirm the completion of the cancellation of the command
by checking that RCMD = EX_POSING (= 39h),
CMD_STAT.CMDRDY = 1 and SVCMD_STAT.CMD_CAN-
CEL_CMP = 1.
•
Confirm the completion of pausing of the command by
checking that RCMD = EX_POSING (= 39h),
CMD_STAT.CMDRDY = 1 and SVCM-
D_STAT.CMD_PAUSE_CMP = 1.
•
CPRM_SEL_MON1/CPRM_SEL_MON2:
Monitor data can be selected by changing the common
parameter setting. Refer to the following chapter for
details.
Chapter 8 Common Parameters .
<Notes on using the command>
•
To send this command, select the latch signal with LT_-
SEL1 of SVCMD_CTRL and output the latch request by
setting LT_REQ1 = 1.
•
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/deceler-
ation 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.
•
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)
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