Yaskawa Sigma-5 User Manual: MECHATROLINK-II Commands Instrukcja Użytkownika Pobierz pdf (Strona 82)

4.2 Motion Commands Details

4-17

Motion Commands for Operation

4.2.8 External Input Positioning (EX_POSING: 39H)

(1) EX_POSING Command (39H)

The EX_POSING command is used to start positioning to 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 positioning from the latch signal input position. When no latch signal is input, positioning is per-

formed for the target position (TPOS).

Byte

EX_POSING

Description

Command Response

1 39H 39H

Phases in

which the

command can

be executed

Phase 2 and 3

Synchronization

classification

Asynchronous

command

2 LT_SGNL ALARM

Processing

time

Within commu-

nications cycle

Subcommand Can be used

OPTION STATUS

•

Use LT_SGNL to select the latch signal.

For details on LT_SGNL, refer to 7.1.6 LT_SGNL Specifications.

When the latch signal is input, positioning is performed according to the

final travel distance for external positioning specified in Pn814 from the

latch signal input position. And, the latch signal input position is stored in

the feedback latch position (LPOS) and is forcibly output to MONITOR2

for one communications cycle.

When no latch signal is input, positioning is performed for the specified

target position (TPOS).

• OPTION field can be used.

• The target position (TPOS) is a signed 4-byte data, and the absolute posi-

tion in reference coordinate system.

Set the target position (TPOS) so that the travel distance (TPOS - IPOS)

is a value of 31 bits (24...) or less.

• The target speed (TSPD) is an unsigned 4-byte data.

Set a value in the range between 0 and the motor max. speed [reference

unit/s].

• The target position and target speed can be changed during positioning

executed by this command.

However, any change in the target position and/or target speed after the

latch signal input will be invalid.

• 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 a value between 4000H and FFFFH is set, the maximum motor

torque (force) will be applied as the limit.

Use the ADJ command to obtain the maximum motor torque (force).

• Use DEN (output complete) to confirm the completion of position refer-

ence output.

• When the command in execution is switched from this command to

another command, latching will be cancelled and positioning will be per-

formed for the specified target position (TPOS).

• A warning will occur and the command will not be executed in the fol-

lowing cases.

- This command is used when 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)

TPOS MONITOR1

TSPD MONITOR2

13 SEL_MON1/2 SEL_MON1/2

TLIM IO_MON

16 WDT RWDT

Subcommand

area

Subcommand

area

1 2 ... 77 78 79 80 81 82 83 84 85 86 87 ... 141 142

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