YASKAWA E-7S SERVOPACK SGD7S

14.8 Serial Commands
14.8.3 Positioning, Jog Operation, and Registration with Serial Commands
14-17
14
Operation with Serial Command Communications
ST (±) nnnnnnnn *
STA (±) nnnnnnnn *
(The + sign can be
omitted.)
Positioning Start (Absolute Position)
Setting range: -99999999 ≤ nnnnnnnn ≤ +99999999 [1 reference unit]
Specifies the absolute position nnnnnnnn as the target position and starts
positioning at the same time. This command is equivalent to the following
combination:
POSA + nnnnnnnn → ST
Example:
SPDnnnnnnnn: Positioning Speed Specification
STA + nnnnnnnn: Target Position Specification and Positioning
Start
OK
STI (±) nnnnnnnn
*
(The + sign can be
omitted.)
Positioning Start (Relative Position)
Setting range: -99999999 ≤ nnnnnnnn ≤ +99999999 [1 reference unit]
Specifies the relative distance nnnnnnnn as the target position and starts
positioning at the same time. This command is equivalent to the following
combination:
POSI + nnnnnnnn → ST
Example:
SPDnnnnnnnn: Positioning Speed Specification
STI + nnnnnnnn: Target Position Specification and Positioning Start
OK
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Serial Command Function/Description
Positive
Response
Speed
STy or STAy
STz or STAz
(Disabled)
Position
coordinate
X
0
(y − a) (z − y)
a
y
z
t
SPDx
ST
When the target position is an
absolute position, the axis will not
move if the same positioning is
repeated with ST.
X
0
a a + y a + 2y
t
(y)
(y)
SPDx
STIy
ST
The same positioning
is repeated with ST.
Speed
Position coordinate