4.2 Main Commands
81
4.2.25 Positioning (POSING: 35H)
Related Parameters
Byte POSING Description
Command Response
135H 35H
Processing clas-
sifications
Motion com-
mand group
Synchronization
classifications
Asynchronous
2 − ALARM
Processing time Within commu-
nications cycle
Subcommand Can be used
3 OPTION STATUS • Performs positioning at the target position (TPOS) using the target
speed (TSPD).
• Can be used during phases 2 and 3.
• A warning will occur and the command will be ignored in the following
cases.
-If the SERVOPACK is Servo OFF: Command warning 1 (A.95A)
-If the target speed (TSPD) exceeds the maximum speed: Data setting
warning 2 (A.94B)
• OPTION field cannot be used. Set all bits to 0.
• The target position (TPOS) is a signed 4 bytes. It is sent by using an
absolute position in the reference coordinate system.
• The target speed (TSPD) is an unsigned 4 bytes. It is sent in the range
from 0 to the maximum speed [reference unit/s].
• Changes can be made to the target position and target speed during
movement.
• Use DEN (output complete) to confirm the completion of position refer-
ence output.
• For details on posing commands, refer to 6.5.2 POSING Related Com-
mands.
4
5 TPOS MONITOR1
6
7
8
9 TSPD MONITOR2
10
11
12
13 SEL_MON
1/2
SEL_MON
1/2
14 − IO_MON
15
16 WDT RWDT
17 For sub-
commands.
For sub-
commands.
18
19
20
21
22
23
24
25
26
27
28
29
Parameter No. Description
Pn80B Linear Acceleration Parameter
Pn80E Linear Deceleration Parameter
TOEP_C710806_03A_1_0.book Seite 81 Montag, 2. Juli 2007 3:55 15
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