YASKAWA Sigma-7 SGD7S Series - Page 558

Sets the influence of the task for the traversing block.
PNU
(hex)
Name Data Type Access PDO Map-
ping
Value Saving to
EEPROM
2610h Traversing Block Task Mode Array
UDINT[64]
RW No 0 to
1(default: 0)
Yes
Data Description
Bits Description
0 Absolute / Relative positioning mode:
n 1 - Absolute positioning. The Traversing Block Target Position is
defined as absolute target position for the motion.
n 0 - Relative positioning. The Traversing Block Target Position is
defined as relative target position for the motion related to the actual
axis position.
Absolute / Offset target command in Positioning in range mode execution
(PNU 2400h!=0):
n 1 - Absolute Target command.The Traversing Block Target Position is
defined as absolute positioning in range target.
n 0 - Offset Target command. The Traversing Block Target Position is
defined as offset from previous target positioning in range.
1 to 15 Reserved for future use by PROFIdrive profile
16 to 31 Reserved
The target position is the position that the drive should move to in PROFIdrive position
profile mode using the settings of motion Traversing Block parameters such as velocity,
acceleration, deceleration.
PNU
(hex)
Name Data Type Access PDO Map-
ping
Value Saving to
EEPROM
Units
2611h Traversing
Block Target
Position
Array DINT[64] RW No DINT
(default: 0)
Yes Pos. units
The profile velocity is the velocity normally attained at the end of the acceleration ramp
during a profiled move and is valid for both directions of motion. The profile velocity is
given in user defined speed units.
PNU
(hex)
Name Data Type Access PDO Map-
ping
Value Saving to
EEPROM
Units
2612h Traversing
Block Profile
Velocity
Array
UDINT[64]
RW No
0 to 2
31
-1
(default: 0)
Yes Vel. units
Traversing Block Task
Mode
Traversing Block Target
Position
Traversing Block Profile
Velocity
Sigma-7 Series SERVOPACKs
Object Dictionary
PROFIdrive Position Mode
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