YASKAWA SGDV-OCA05A

This chapter provides details on DeviceNet communica-
tions.
13.1 DeviceNet Communications Settings . . . . 13-3
13.1.1 Setting the Node Address . . . . . . . . . . . . . . . . . 13-3
13.1.2 Setting the Baud Rate . . . . . . . . . . . . . . . . . . . . 13-4
13.2 Communications Methods . . . . . . . . . . . . 13-5
13.2.1 I/O Communications . . . . . . . . . . . . . . . . . . . . . 13-5
13.2.2 Explicit Message Communications . . . . . . . . . 13-11
13.3 Controlling Operation from the Host Controller . . 13-13
13.3.1 Positioning . . . . . . . . . . . . . . . . . . . . . . . . . . . 13-13
13.3.2 Continuous Operation . . . . . . . . . . . . . . . . . . . 13-14
13.3.3 Origin Returns . . . . . . . . . . . . . . . . . . . . . . . . . 13-15
13.3.4 Switching to Positioning . . . . . . . . . . . . . . . . . 13-18
13.3.5 Hard Stop Operation . . . . . . . . . . . . . . . . . . . . 13-20
13.3.6 Smooth Stop Operation . . . . . . . . . . . . . . . . . 13-21
13.3.7 External Stop Operation . . . . . . . . . . . . . . . . . 13-21
13.3.8 Hardware Limit Operation . . . . . . . . . . . . . . . . 13-22
13.3.9 Software Limit Operation . . . . . . . . . . . . . . . . 13-22
13.4 Programmed Operation . . . . . . . . . . . . . . 13-23
13.4.1 What Is Programmed Operation? . . . . . . . . . . 13-23
13.4.2 Command Blocks . . . . . . . . . . . . . . . . . . . . . . 13-23
13.4.3 Block Command Details . . . . . . . . . . . . . . . . . 13-24
13.4.4 Command Block Links . . . . . . . . . . . . . . . . . . 13-28
13.4.5 Creating and Changing Command Blocks . . . 13-28
13.4.6 Starting Programmed Operation . . . . . . . . . . . 13-30
DeviceNet
Communications
13