4 MECHATROLINK-
II
Communications
4.3.13 Set Coordinates (POS_SET: 20H)
4-20
4.3.13
Set Coordinates (POS_SET: 20H)
Details of PS_SUBCMD
• REFE: Sets reference point.
0: Does not set reference point.
1: Sets reference point.
The zero point is enabled, ZPOINT and software limits are enabled.
• POS_SEL: Selects coordinates.
3: When APOS (feedback position in machine coordinate system) is selected,
it is also set in the reference and machine coordinate system.
Byte
POS_SET
Description
Command
Response
1
20H
20H
Processing
classifications
Data communica-
tions command
group
Synchronization
classifications
Asynchronous
2
ALARM
Processing time
Within 200 ms
Subcommand
Cannot be used.
3
STATUS
• Sets coordinates. REFE can also enable zero point (ZPOINT) and software
limits.
• Can be used during phases 2 and 3.
• PS_SUBCMD: Refer to the following table for coordinate setting modes.
• Set position in POS_DATA.
• A warning will occur and the command will be ignored in the following cases.
- During phase 1: MECHATROLINK-II command warning (A.95)
- If a number not within the range is set for PS_SUBCMD: Parameter setting
warning (A.94)
4
5
PS_SUBCMD
PS_SUBCMD
6
POS_DATA
POS_DATA
7
8
9
10
11
12
13
14
15
16
WDT
RWDT
D7
D6
D5
D4
D3
D2
D1
D0
REFE
0
0
0
POS_SEL