YASKAWA SGDV-OCA05A

13.3 Controlling Operation from the Host Controller
13.3.1 Positioning
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DeviceNet Communications
13.3 Controlling Operation from the Host Controller
This section describes the operation of the SERVOPACK for I/O communications from the host
controller.
13.3.1 Positioning
Positioning can be performed to specified target positions. The procedure and an example
operation are given below.
Using Commands
The command method and procedure for positioning are given below.
1. If it is necessary to change the current parameters, set the target speed, acceleration
rate, deceleration rate, etc.
2. In the Absolute/Incremental bit in the command message, specify whether the target
position is an absolute or relative position.
3. Set the command assembly code to 0x01 and set the target position in the command
message.
4. Set the Valid Data bit to 1 in the command message, and then set the Start Trajectory bit
to 1. You can set both the Valid Data bit and the Start Trajectory bit to 1 at the same
time.
5. After positioning starts, the Trajectory In Progress bit in the response message is set to
1. It is then cleared to 0 after the reference pulses to the target position have all been
distributed.
Positioning Operation Example
An example of a command message for positioning is given in the following table. In this exam-
ple, an absolute position with a target position of 128,000 reference units (= 0x0001F400) is
specified. The SERVOPACK assumes that the data, such as that for the target position, is valid
when the Valid Data bit in the command message is set to 1. Therefore, set bytes 1 to 7 first,
and then set byte 0.
Bytes Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
0
1
Enable
1
Valid
Data
0
Hard
Stop
0
Smooth
Stop
0
Direction
(V mode)
0
Absolute/
Incremen-
tal
0
Start
Block
1
Start
Trajectory
1 0x00 Block Number
2 0x1 Axis Instance 0x01 Command Assembly Code
3 0x1 Axis Instance 0x03 Response Assembly Code
4 0x00 Target Position Low Byte
5 0xF4 Target Position Low Middle Byte
6 0x01 Target Position High Middle Byte
7 0x00 Target Position High Byte