YASKAWA XTRAWARE - V3.0, Manual

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Command Reference
GO_D
Table explanation
Group Motion
Syntax GO_D <target> <time>
Op. Code 128
Modes Program, Sequential
Motion
Mode Position (1)
Description Moves the motor to a specified <target> (absolute coordinates) in
the specified <time>. This command is identical to the GO
command in motion execution, but it delays the execution of the
next program command until the command (theoretical motion)
generated by the GO_D command is completed.
The controller calculates the speed of the motor based on the
default values of acceleration and jerk. The maximum permitted
speed is maximum motor speed (variable Max_profile_velocity).
target The specified target in absolute
coordinates.
[user position units]
Serial 4 V
Syntax
Arguments
time The time allowed for the motion. [ms]
When setting <time> to -1, a motion
profile (see section
12.2, Motion Profile)
will be calculated with a maximum speed
equal to the profile velocity (see section
12.2.1, Profile Velocity).
Serial 4 V
Example LABEL 1
GO_D 10000 –1
SET_OUTPUT 1 ON
GO_D 0 300
END
Example
Explanation Movement commences to destination 10000 UU. –1 indicates that
the movement time will be determined by the motion profile: the
predefined speed, acceleration and jerk time (see section
12.2,
Motion Profile). Unlike the GO example in which the output was set
at the beginning of the command, output 1 is set to ON only after
the movement has ended. Motor moves to point 0 (zero position)
XtraWare User Manual 115