Yaskawa SGDS Sigma III Servo Amplifier - Manual (Page 165)

6 MECHATROLINK II Communications
6.3.28 External Input Positioning (EX_POSING: 39H)
6-34
6.3.28 External Input Positioning (EX_POSING: 39H)
• Related Parameters
Byte EX_POSING Description
Command Response
1 39H 39H Processing
classifications Motion command
group Synchronization
classifications Asynchronous
2 LT_SGN ALARM Processing time Within communi-
cations cycle Subcommand Can be used
3 OPTION STATUS • Moves toward the target position (TPOS) at the target speed (TSPD). When a
latch signal is input midway, positioning is performed according to the final
travel distance for external position specified in the parameter from signal
input position. When no latch signal is input, positioning is performed for the
target position.
• 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 position (TPOS) is a signed 4 bytes [reference unit]. It is set using
an absolute position in the reference coordinate system.
• The target speed (TSPD) is an unsigned 4 bytes. It is set using 0 to limit value
[reference unit/s].
• After the latch is input, any changes to the target position during motion will
be ignored.
• Use DEN (output complete) to confirm the completion of position reference
output.
• It takes 500 µs max. for the Request Latch Mode command to start.
4
5
TPOS MONITOR1
6
7
8
9
TSPD MONITOR2
10
11
12
13
SEL_MON 1/2 SEL_MON 1/2
14 I/O_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 Pn No. Description
Pn511 Input Signal Selections 5 Pn820 Latching Area Upper Limit
Pn80A First-step Linear Acceleration Parameter Pn822 Latching Area Lower Limit
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
Pn814 Final Travel Distance for External Positioning