YASKAWA Sigma-7 SGD7S Series - Page 556

Traversing block selection.
PNU
(hex)
Name Data Type Access PDO Map-
ping
Value Saving to
EEPROM
2532h Traversing Block Selection
(SATZANW)
UINT RW RPZD - Yes
Data Description
Bits Description
0 to 9 Number of the motion record in the program storage intended to start
(value range: 0 to 1023). A minimum number of 64 records (bits 0 to 5)
shall be supported by the drive. Bits 0 to 9 are only relevant in Program
submode.
10 to 14 Reserved for future use by PROFIdrive profile
15 Mode switch for selection of submodes:
n 1 - Activation of the MDI submode. If there is a program still running
(extended state machine not in the Basic State), the positioning inter-
face will change to MDI Submode only after the program ends or is
terminated (STW1 bit 4).
n 0 - Deactivation of the MDI submode. If there is a MDI motion com-
mand still executed the path interpolation shall stop and the MDI
motion command shall be rejected.
Traversing block selected.
PNU
(hex)
Name Data Type Access PDO Map-
ping
Value Saving to
EEPROM
2533h Actual Traversing Block
(AKTSATZ)
UINT RO TPZD - No
Data Description
Bits Description
0 to 9 Number of the motion record actually active (executed by the path interpo-
lation). 64 records (bits 0 to 5) are supported by the drive.
Bits 0 to 5 are only relevant in Program submode (in MDI submode and
while no program is being executed the number should be 0).
10 to 14 Reserved for future use by PROFIdrive profile
15 Status of Mode switch:
n 1 - MDI submode active. The input values for the motion record will be
taken out of the signals MDI_MOD, MDI_TARPOS, MDI_VELOCITY,
MDI_ACC and MDI_DEC.
n 0 - Program submode active. The initial motion record for the start of
the motion task will be taken out of bits 0 to 5 of this signal.
Traversing Block Selec-
tion (SATZANW)
Actual Traversing Block
(AKTSATZ)
Sigma-7 Series SERVOPACKs
Object Dictionary
PROFIdrive Position Mode
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