Yaskawa SGDS Sigma III Servo Amplifier - Manual (Page 163)

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