Yaskawa SGDS Sigma III Servo Amplifier - Manual (Page 150)

6.3 Main Commands
6-19
6.3.13 Set Coordinates (POS_SET: 20H)
• Details of PS_SUBCMD
• REFE: Sets reference point.
0: Does not set reference point.
1: Sets reference point.
Decides the coordinates, and ZPOINT and software limits are enabled.
• POS_SEL: Selects coordinates.
3: When APOS (feedback position in machine coordinate system) is selected,
POS_DATA is also set in the reference and machine coordinate system.
Byte POS_SET Description
Command Response
1 20H 20H Processing
classifications Data communica-
tions command
group Synchronization
classifications Asynchronous
2 ALARM Processing time Within communi-
cation cycle Subcommand Cannot be used
3 STATUS • Sets coordinates. REFE can also enable home position (ZPOINT) and
software limits.
• Can be used during phases 2 and 3.
• PS_SUBCMD: Refer to the following table for coordinate setting modes.
• Set position in POS_DATA.
• A warning will occur and the command will be ignored in the following cases.
- During phase 1: Command warning1 (A.95A)
- If a number not within the range is set for PS_SUBCMD: Data setting
warning 2 (A.94B)
4
5
PS_SUBCMD PS_SUBCMD
6 POS_DATA POS_DATA
7
8
9
10
11
12
13
14
15
16
WDT RWDT
D7 D6 D5 D4 D3 D2 D1 D0
REFE 0 0 0 POS_SEL