6.3 Main Commands
6-31
6.3.25 Positioning (POSING: 35H)
• Related Parameters
Byte POSING Description
Command Response
1 35H 35H Processing
classifications
Motion command
group
Synchronization
classifications
Asynchronous
2 ALARM Processing time Within communi-
cations cycle
Subcommand Can be used
3OPTIONSTATUS• 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.
- During phase 1: Command warning 1 (A.95A)
- If the SERVOPACK is Servo OFF: Command warning 1 (A.95A)
- If the target speed (TSPD) exceeds the limit: Data setting warning 2 (A.94B)
• OPTION field can be selected. Refer to 6.5.2 Option Field Specifications:
OPTION for details.
• The target position (TPOS) is a signed 4 bytes. It is set using an absolute
position in the reference coordinate system.
• The target speed (TSPD) is an unsigned 4 bytes. Setting ranges from 0 to the
limit value [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 reference
output.
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
subcommands.
Refer to 6.4
Subcommands.
For
subcommands.
Refer to 6.4
Subcommands.
18
19
20
21
22
23
24
25
26
27
28
29
Pn No. Description
Pn80A First-step Linear Acceleration Parameter
Pn80B Second-step Linear Acceleration Parameter
Pn80C Acceleration Parameter Switching Speed
Pn80D First-step Linear Deceleration Parameter
Pn80E Second-step Linear Deceleration Parameter
Pn80F Deceleration Parameter Switching Speed
To Next Page
Loading...
Need help?
General
