Yaskawa Sigma-5 User Manual: MECHATROLINK-II Commands Manual de usuario Pagina 124
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7.1 Main Command Data Field
7-5
7
Data Field
(3) Functions That Can Be Allocated to Bits of the OPTION Field
Note 1. Do not allocate more than one signal to one bit. Otherwise, multiple signals will be controlled by one bit.
2. The bits to which no function is allocated will act as it is set to 0 (zero).
3. To enable the OUT_SIGNAL function, set the following parameters to Zero: Pn50E, Pn50F, and Pn510.
Name Description Value Details
Default
Setting
ACCFIL
(2 bits)
Acceleration/Deceleration filter
0 No acceleration/deceleration filter
D3, D4
1
Exponential function acceleration/decel-
eration
2 S-curve acceleration/deceleration
3 Do not set.
G_SEL
(2 bits)
Gain switching
0 First gain
D8, D9
1 Second gain
2 Reserved (invalid)
3 Reserved (invalid)
V_PPI
(1 bit)
Speed loop P/PI control
0 PI control
D12
1 P control
P_PI_CLR
(1 bit)
Position loop position integral
clear
0 Does not clear.
D13
1Clears.
P_CL
(1 bit)
Forward torque (force) limit
0 Does not control torque (force).
D14
1 Controls torque (force).
N_CL
(1 bit)
Reverse torque (force) limit
0 Does not control torque (force).
D15
1 Controls torque (force).
LT_DISAB LE
(1 bit)
Latch signal input disabled
0 Enables latch signal input.
Not allocated
1 Disables latch signal input.
BANK_SEL1
(4 bits)
Bank selector 1
(Bank for acceleration/decelera-
tion parameter switching)
0 to
15
Bank 0 to Bank 15 Not allocated
OUT_SIGNAL
(3 bits)
I/O signal output com-
mand
BIT 0
0 SO1 output signal OFF
Not allocated
1 SO1 output signal ON
BIT 1
0 SO2 output signal OFF
1 SO2 output signal ON
BIT 2
0 SO3 output signal OFF
1 SO3 output signal ON
- Σ-V Series 1
- About this Manual 3
- Warranty 4
- (3) Suitability for Use 5
- (4) Specifications Change 5
- Contents 6
- 1.1.1 Layers 10
- 1.1.2 Frame Structure 10
- MECHATROLINK-II Commands 11
- 1.1.4 Terminology 12
- 1 MECHATROLINK-II Commands 14
- 1.4 Data Order 17
- Operation Sequence 18
- 2.1 Preparing for Operation 19
- Setting the Station Address 20
- 2 Operation Sequence 21
- -J11) are Used 23
- (1) Operation Procedure 25
- Controller 26
- 2.3.1 Setup Sequence 27
- POS: Reference position 31
- 3.2.1 No Operation (NOP: 00H) 34
- (4) Details WDT and RWDT 36
- (1) DISCONNECT Command (0FH) 37
- (1) CONNECT Command (0EH) 38
- (2) Details of COM_MOD 39
- (1) SYNC_SET Command (0DH) 40
- (1) ID_RD Command (03H) 41
- (2) Device ID Specifications 42
- ID_RD aSGDV2R9E11A00 43
- ID_RD bSGDV131J11A00 44
- (1) PRM_WR Command (02H) 45
- (1) PPRM_WR Command (1CH) 46
- (1) CONFIG Command (04H) 47
- (1) SENS_ON Command (23H) 48
- • Applicable Commands: 50
- (1) SV_ON Command (31H) 51
- 3.2 Commands Details 52
- (1) SENS_OFF Command (24H) 54
- (1) SV_OFF Command (32H) 55
- (1) PRM_RD Command (01H) 56
- (1) SMON Command (30H) 57
- (1) ALM_RD Command (05H) 58
- (2) ALM_RD_MOD Specifications 59
- (1) ALM_CLR Command (06H) 60
- (1) POS_SET Command (20H) 61
- (2) PS_SUBCMD Specifications 61
- (1) ADJ Command (3EH) 62
- C01EH reference value 65
- C021H reference value 65
- Motion Commands for Operation 66
- 4.1 Motion Commands List 67
- 4.2.1 Stop Motion (HOLD: 25H) 68
- (2) Related Parameters 69
- (1) LTMOD_ON Command (28H) 70
- (2) Normal Latch Mode 70
- (3) Continuous Latch Mode 71
- (4) LT_SGNL Specifications 72
- (5) Related Parameters 72
- (1) LTMOD_OFF Command (29H) 73
- (1) INTERPOLATE Command (34H) 74
- (1) POSING Command (35H) 76
- (1) FEED Command (36H) 78
- (1) LATCH Command (38H) 80
- (1) EX_POSING Command (39H) 82
- (2) Operation 83
- (3) Related Parameters 83
- 4.2.9 Homing (ZRET: 3AH) 84
- (1) VELCTRL Command (3CH) 86
- Before soft-start 87
- After soft-start 87
- Max. motor speed 87
- Pn305 Pn306 87
- (1) TRQCTRL (3DH) 88
- (2) Speed Limit Option 1 89
- (3) Speed Limit Option 2 89
- 5.2.1 Electronic Gear Setting 93
- Position 94
- (2) Position Reference Filter 96
- 5.2.3 Motion Sequence Setting 99
- 5.2.4 Command Data Options 100
- 5 Command Related Parameters 101
- 5.2.4 Command Data Options 101
- (4) OPTION Field Allocation 102
- (1) Latching Allowable Area 104
- (2) Continuous Latch Function 104
- Command Related Parameters 106
- NEAR Signal Width Setting 111
- (3) Option Monitor Setting 113
- MECHATROLINK-II Subcommands 114
- 6.2.1 No Operation (NOP: 00H) 115
- Data Field 120
- 7.1 Main Command Data Field 121
- (1) Applicable Commands 123
- (2) Setting Method 125
- Applicable Commands 126
- 7.1.6 LT_SGNL Specifications 128
- 7.2 Substatus Data Field 129
- Communications or Commands 130
- 8.1 List of Alarms 131
- 8.1 List of Alarms 132
- 8.2 List of Warnings 133
- 8.2 List of Warnings 134
- Appendix 136
- A Brake Control Commands 137
- • Sub-control (SUBCTRL) 139
- Select Motion (MOTION) 140
- Select Latch Signal (L_SGN) 140
- • Sequence Signals: SQ_CMD 140
- Revision History 141
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