YASKAWA SGDV-OCA05A

13.2 Communications Methods
13.2.1 I/O Communications
13
DeviceNet Communications
13-7
* The value of PnB55 is the end position.
 Response Assembly Code
The response assembly code specifies the response data that is in the response message,
such as the current position or the current speed.
 Command Data
Set the command data to the data that is defined for the command assembly code.
Command Data Specifications
 NOP (Command Assembly Code = 0x00)
The command data has no meaning for this code.
 Target Position (Command Assembly Code = 0x01)
Set the command data to the target position in reference units. This data is enabled when the
Valid Data bit is set to 1.
Positioning starts when the Start Trajectory bit is set to 1 after the target position is set. The
data and the bit can also be set at the same time.
The handling of the target position depends on the Absolute/Incremental bit, as shown below.
• Absolute/Incremental bit = 0 (Absolute Position)
If the current position is +200 and the command data is +300, the target position will be
+300.
• Absolute/Incremental bit = 1 (Relative Position)
If the current position is +200 and the command data is +300, the target position will be
+500.
Refer to the following section for information on positioning.
13.3.1 Positioning on page 13-13
0x04
Deceleration rate (reference units/s
2
)
DINT
0x05 to 0x10 Reserved. −
0x11 Continuous motor speed (reference unit/s) DINT
0x12 Origin return type USINT
0x13 to 0x1D Reserved. −
0x1E Alarm clear BOOL
0x1F Switch to positioning* DINT
Response Assembly Code Response Data Data Type
0x00 NOP −
0x01 Current position (reference units) DINT
0x02 Reference position (reference units) DINT
0x03 Current speed (reference unit/s) DINT
0x04 Reserved. −
0x05 Torque monitor (%) DINT
0x06 to 0x1D Reserved. −
0x1E Alarm code DINT
0x1F Reserved. −
Continued from previous page.
Command Assembly Code Command Data Data Types