YASKAWA SGDS Sigma III Series, User Manual

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6 MECHATROLINK II Communications
6.3.26 Constant Speed Feed (FEED: 36H)
6-32
6.3.26 Constant Speed Feed (FEED: 36H)
• Related Parameters
Byte FEED Description
Command Response
1 36H 36H Processing
classifications Motion command
group Synchronization
classifications Asynchronous
2 ALARM Processing time Within communi-
cations cycle Subcommand Can be used
3 OPTION STATUS • Performs constant speed feeding using the target speed (TSPD). The servo
controls the position. Use the Stop Motion command (HOLD: 25H) to stop the
constant speed feeding.
• Can be used during phases 2 and 3.
• A command warning will occur and the command will be ignored in the
following cases.
- During phase 1: Command warning 1 (A.95A)
- If the SERVOPACK is Servo OFF: Command warning 1 (A.95A)
- If the target speed (TSPD) exceeds the limit: Data setting warning 2 (A.94B)
• OPTION field can be used. Refer to 6.5.2 Option Field Specifications:
OPTION for details.
• The target speed (TSPD) is a signed 4 bytes. The direction is determined by
the sign. Setting ranges from a negative limit value to a positive limit value
[reference unit/s].
• Changes can be made to the target speed during movement.
• Use DEN (output complete) to confirm the completion of position reference
output.
4
5
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
subcommands.
Refer to
6.4
Subcommands .
For
subcommands.
Refer to
6.4
Subcommands .
18
19
20
21
22
23
24
25
26
27
28
29
Pn No. Description
Pn80A First-step Linear Acceleration Parameter
Pn80B Second-step Linear Acceleration Parameter
Pn80C Acceleration Parameter Switching Speed
Pn80D First-step Linear Deceleration Parameter
Pn80E Second-step Linear Deceleration Parameter
Pn80F Deceleration Parameter Switching Speed