Yaskawa Sigma-5 User Manual: MECHATROLINK-II Commands - Manual (Page 78)

4.2 Motion Commands Details
4-13
4
Motion Commands for Operation
4.2.6 Constant Speed Feeding (FEED: 36H)
(1) FEED Command (36H)
The FEED command is used to start constant speed feeding at the specified target speed (TSPD) by position
control.
Use Stop Motion command (HOLD: 25H) to stop constant speed feeding executed by this command.
Byte
FEED
Description
Command Response
1 36H 36H
Phases in
which the
command can
be executed
Phase 2 and 3
Synchronization
classification
Asynchronous
command
2 ALARM
Processing
time
Within commu-
nications cycle
Subcommand Can be used
3
OPTION STATUS
• OPTION field can be selected.
• The target speed (TSPD) is a signed 4-byte data. The feeding direction is
determined by the sign.
Constant speed feeding is carried out at the specified target speed.
TSPD setting range: From the negative (-) motor max. speed to the posi-
tive (+) motor max. speed [reference unit/s]
• Changes can be made to the target speed during movement.
Change the target speed as required and send this command.
• The torque (force) limit (TLIM) can be used by setting Pn81F and Pn002.
- TLIM setting range: 0 to 4000H [maximum motor torque (force)/
4000H]
If TLIM is set to a value between 4000H and FFFFH, the maximum
motor torque (force) will be applied as the limit.
Use the ADJ command to obtain the maximum motor torque (force).
• Use the DEN (output complete) to confirm the completion of position
reference output.
• A warning will occur and the command will not be executed in the fol-
lowing cases.
- The command is used while the servo is OFF: Command warning 1
(A.95A)
- The target speed (TSPD) exceeds the limit: Data setting warning 2
(A.94B)
- When using SigmaWin or a digital operator for motor operations such
as JOG: Command warning 1 (A.95A)
4
5
MONITOR1
6
7
8
9
TSPD MONITOR2
10
11
12
13 SEL_MON1/2 SEL_MON1/2
14
TLIM IO_MON
15
16 WDT RWDT
17
Subcommand
area
Subcommand
area
18
19
20
21
22
23
24
25
26
27
28
29