Yaskawa Sigma-5 User Manual: MECHATROLINK-II Commands Manual de usuario Pagina 127
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7 Data Field
7.1.5 IO Monitor Field Specifications: IO_MON
7-8
7.1.5 IO Monitor Field Specifications: IO_MON
The IO monitor field is used to monitor the I/O signal status of the SERVOPACK.
Applicable Commands
SMON, SV_ON, SV_OFF, SV_CTRL, FEED, HOLD, INTERPOLATE, POSING, LATCH, EX_POSING,
ZRET, VELCTRL, TRQCTRL, SENS_ON, SENS_OFF, BRK_ON, BRK_OFF, LTMOD_ON, LTMOD_OFF
I/O signal allocation is shown below.
Note: The EXT2, EXT3, and HWBB cannot be used with DC power input Σ-V series SERVOPACKs (SGDV-E11).
D7 D6 D5 D4 D3 D2 D1 D0
EXT2 EXT1 PC PB PA DEC N_OT P_OT
D15 D14 D13 D12 D11 D10 D09 D08
IO15 IO14 IO13 IO12 – HBB BRK EXT3
Bit Name Contents Value Status
D0 P_OT Forward run prohibited input
0OFF
1ON
D1 N_OT Reverse run prohibited input
0OFF
1ON
D2 DEC Homing deceleration LS input
0OFF
1ON
D3 PA Encoder phase A input
0OFF
1ON
D4 PB Encoder phase B input
0OFF
1ON
D5 PC Encoder phase C input
0OFF
1ON
D6 EXT1 First external latch signal input
0OFF
1ON
D7 EXT2 Second external latch signal input
0OFF
1ON
D8 EXT3 Third external latch signal input
0OFF
1ON
D9 BRK Brake output
0 Released
1 Locked
D10 HBB
Stop signal input, OR of HWBB1 signal and HWBB2 sig-
nal
0
OFF
(Forced stop released)
1
ON
(Forced stop)
D11 Reserved 0
D12 IO12 CN1 input signal selected in Pn81E.0
0 OFF (open)
1 ON (closed)
D13 IO13 CN1 input signal selected in Pn81E.1
0 OFF (open)
1 ON (closed)
D14 IO14 CN1 input signal selected in Pn81E.2
0 OFF (open)
1 ON (closed)
D15 IO15 CN1 input signal selected in Pn81E.3
0 OFF (open)
1 ON (closed)
- 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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