4.2 Main Commands
70
4.2.13 Set Coordinates (POS_SET: 20H)
Details of PS_SUBCMD
• REFE: Sets reference point.
0: Does not set reference point.
1: Sets reference point.
Decides the coordinates, and ZPOINT (home position) and software limits are enabled.
• POS_SEL: Selects coordinates.
3: Sets POS_DATA to the reference point and the coordinate system (POS, MPOS, APOS, IPOS, and
TPOS) if APOS (machine coordinate system feedback position) is selected (The “3: APOS” can only
be selected for POS_SEL.).
• Set all other bits to 0.
4.2.14 Apply Brake (BRK_ON: 21H)
Byte POS_SET Description
Command Response
1 20H 20H
Processing clas-
sifications
Data communi-
cations com-
mand group
Synchronization
classifications
Asynchronous
2 − ALARM
Processing time Within commu-
nication cycle
Subcommand Cannot be used
3 STATUS • Sets coordinates. REFE can also enable home position (ZPOINT) and
software limits.
• Can be used during phases 2 and 3.
• PS_SUBCMD: Refer to the following table for coordinate setting modes.
• Set position in POS_DATA.
• A warning will occur and the command will be ignored in the following
cases.
-If a number not within the range is set for PS_SUBCMD: Data setting
warning 2 (A.94B)
4
5 PS_SUBC
MD
PS_SUBC
MD
6 POS_DATA POS_DATA
7
8
9
10 −−
11
12
13
14
15
16 WDT RWDT
D7 D6 D5 D4 D3 D2 D1 D0
REFE −−− POS_SEL
Byte BRK_ON Description
Command Response
1 21H 21H
Processing clas-
sifications
Control com-
mand group
Synchronization
classifications
Asynchronous
TOEP_C710806_03A_1_0.book Seite 70 Montag, 2. Juli 2007 3:55 15
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