A-69
A-5MECHATROLINK-II Communication Commands
APPENDIX
- SV Series User’s Manual -
External input positioning (39H)[EX_POSING]
The target position (TPOS) is positioned according to the target speed (TSPD).If a latching information is input in the
execution, then the latching signal input position plus the position movement upon inputting the latching signal is
positioned.
Available phase : Phase 2 and Phase 3
Type of command : non-sync type
Reading cycle : < Communication period
Sub command : Available
The target speed (TSPD) can also be changed when the EX_POSING command is used.But this cannot
be done after the latch signal is input.
In case another signal is switched to and received in executing EX_POSING command, latching is
cancelled. The specified target position will be positioned.
If a latching information is input in the execution, then the latching signal input position plus "Origin
distance after latch" (ML_16) is positioned.When a latch signal is input, the position will be saved to the
feedback latch position (LPOS); besides, the LPOS within a communication cycle will be forcibly returned
to MONITOR2.
Whether the output of position command is finished or not can be confirmed by the DEN of STATUS.
If the following warning appears, command will be ignored.
• when the EX_POSING command is received as a result of closing the servo ("command alarm 1
(command condition is not met)" (95A)).
• ("data setting alarm 2 (beyond the range)" (94B))when the target speed exceeds the threshold.
• When the motor operation parameters are written to the KV-ML/MC setting tool (KV MOTION+), SV
series setting software or visiting window ("data setting alarm 1 (beyond data range)" (95A)).
Upon receiving the EX_POSING command, positioning can be performed as shown in the following figure.
Byte 0 1 2 3 4 5 6 7 8 9
10 11 12 13 14 15 16
Command 03H 39H
LT_SGNL OPTION
TPOS TSPD
SEL_MON1/2
TLIM WDT
Response 01H 39H ALARM
STATUS
MONITOR1 MONITOR2
SEL_MON1/2
IO_MON RWDT
Byte
17 18 19 20 21 22 23 24 25 26 27 28 29 30 31
Command Sub command field Can't use
Response Sub command field Can't use
Command speed
TSPD
Time
EX_POSING command receive
Latch signal
When latch signal already input, positioning is
performed according to the movement after latch
signal input from latch signal input position.
When latch signal not input,
positioning to the target position
(TPOS) sent the command.
Latch signal
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