4 MECHATROLINK-II Communications
4.3.13 Set Coordinates (POS_SET: 20H)
4-20
4.3.13 Set Coordinates (POS_SET: 20H)
Details of PS_SUBCMD
• REFE: Sets reference point.
0: Does not set reference point.
1: Sets reference point.
The zero point is enabled, ZPOINT and software limits are enabled.
• POS_SEL: Selects coordinates.
3: When APOS (feedback position in machine coordinate system) is selected,
it is also set in the reference and machine coordinate system.
Byte POS_SET Description
Command Response
1 20H 20H Processing
classifications
Data communica-
tions command
group
Synchronization
classifications
Asynchronous
2 ALARM Processing time Within 200 ms Subcommand Cannot be used.
3STATUS• Sets coordinates. REFE can also enable zero point (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.
- During phase 1: MECHATROLINK-II command warning (A.95)
- If a number not within the range is set for PS_SUBCMD: Parameter setting
warning (A.94)
4
5 PS_SUBCMD PS_SUBCMD
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 0 0 0 POS_SEL
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